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检索条件"机构=the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems"

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A TDC-based nano-scale displacement measure method inside scanning electron microscopes

A TDC-based nano-scale displacement measure method inside sc...

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2016 IEEE International Conference on robotics and Biomimetics, ROBIO 2016

作者： Zhou, Chao Wang, Yu Deng, Lu Wu, Zhengxing Cao, Zhiqiang Wang, Shuo Tan, Min State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China School of Statistics and Mathematics Central University of Finance and Economics Beijing100080 China

ISBN: (纸本)9781509043644

The one of the most important foundations of micro-manipulation is the micro- and nano- displacement's accurate measurement. This paper focused on the end effectors measurement for a nano-manipulation robot, which is working in the scanning electron microscope's vacuum chamber. A standard capacitor are charged and discharged through the strain gauge, and the time are measured by time-digital convertor, which can be used to calculate the displacement. The power consumption are analyzed and compared with traditional Wheatstone bridge. The power consumption is greatly reduced while the error is optimized, so it takes advantages in the environment of vacuum, which is hard to dissipate heat. The drift, resolution and linearity are tested, and demos of closed-loop control and repeated micro unit probing are given to verify the validity of this method. © 2016 IEEE.

关键词： Electric power utilization

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AUV dead-reckoning navigation based on neural network using a single accelerometer 11

AUV dead-reckoning navigation based on neural network using ...

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11th ACM International Conference on Underwater Networks and systems, WUWNet 2016

作者： Xie, Yan-Xin Liu, Jun Hu, Cheng-Quan Cui, Jun-Hong Xu, Hongli State Key Laboratory of Robotics CAS No. 114 Nanta Street Shenhe District Shenyang China College of Computer Science and Technology Jilin University Changchun China Underwater Sensor Network Lab. University of Connecticut StorrsCT06269 United States Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

ISBN: (纸本)9781450346375

The accuracy of the Autonomous Underwater Vehicles (AUVs) navigation system determines whether they can safely operate and return. Traditional Dead-reckoning (DR) relies on the inertial sensors such as gyroscope and accelerometer. A major challenge for DR navigation is from measurement error of the inertial sensors (gyroscope, accelerometer, etc.), especially when the AUV is near or at the ocean surface. The AUV's motion is affected by ocean waves, and its pitch angle changes rapidly with the waves. This rapid change and the measurement errors will cause great noise to the direction measured by gyroscopes, and then lead to a large error to the DR navigation. To address this problem, a novel DR method based on neural network (DR-N) is proposed to explore the time-varying relationship between acceleration measurement and orientation measurement, which leverages acoustic localization and neural network estimate timely pitch angle through the explored time-varying relationship. This method enables AUV's DR navigation with a single acceleration, without relying on both acceleration and gyroscope. Most importantly, we can improve the accuracy of AUV navigation through avoiding DR errors caused by gyroscope noise at the sea surface. Simulations show DR-N significantly improves navigation accuracy.

关键词： Accelerometers

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Contraction approach to bipartite synchronization for a network of nonlinear systems

Contraction approach to bipartite synchronization for a netw...

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第28届中国控制与决策会议

作者： Shidong Zhai Di Liu Qingdu Li Research Center of Analysis and Control for Complex Systems and Key Laboratory of Industrial Internet of Things & Networked ControlMinistry of EducationChongqing University of Posts and Telecommunications

ISBN: (纸本)9781467397155

This paper studies the bipartite synchronization in a network of nonlinear *** the assumption that the signed graph is structurally balanced and the nonlinear system satisfies a one-sided Lipschitz condition,we use contraction theory to obtain some sufficient conditions such that the network admits a bipartite synchronization solution. These conditions are described by the contractivity of lower-dimensional dynamic systems which are about the second smallest eigenvalue of signed *** numerical examples are presented to illustrate the effectiveness of the obtained results.

关键词： Signed graph structural balance contractivity nonlinear systems

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Practical bipartite synchronization on coupled identical linear systems with antagonistic interactions and time-varying topologies

Practical bipartite synchronization on coupled identical lin...

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第35届中国控制会议

作者： Shidong Zhai Shiqi Xiong Guodong Liu Qingdu Li Research Center of Analysis and Control for Complex Systems and Key Laboratory of Industrial Internet of Things & Networked ControlMinistry of EducationChongqing University of Posts and Telecommunications

ISBN: (纸本)9781509009107

This paper studies synchronization problem of a network of identical linear systems with antagonistic interactions and time-varying *** that the communication graph can be switched among a set of signed graphs,and the following cases may occur:(1) the agents of each signed graph can be divided into two hostile camps,but the members of hostile camps are different;(2) some signed graphs cannot be divided into two hostile *** use perturbed analysis to obtain some sufficient conditions for practical bipartite ***,we present a numerical example to illustrate the effectiveness of the obtained results.

关键词： practical bipartite synchronization signed graphs linear systems

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Active Disturbance Rejection Based Iterative Learning control

Active Disturbance Rejection Based Iterative Learning Contro...

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第28届中国控制与决策会议

作者： Xiangyang Li Senping Tian Wei Ai IEEE Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of Technology

ISBN: (纸本)9781467397155

The traditional iterative learning control(ILC) algorithm improves the control performance by updating the control input to implicitly compensate the periodic *** order to enhance the convergence rate of ILC,a new concept,iterative extended state observer(IESO),is presented which can estimate explicitly the periodic uncertainties during the process of iterations and be used to update the control input *** explicit estimation of the uncertainty by the linear IESO in the iteration domain is used to construct a new ILC algorithm based on active disturbance rejection(ADR).The ADR-based ILC algorithm and its corresponding theorem are given in detail and proven by using Lyapunov-like *** results verify the effectiveness of the proposed ILC algorithm,and the iterative learning efficiency is improved greatly by using ADR-based ILC algorithm.

关键词： Iterative Learning control(ILC) Extended state Observer(ESO) Iterative Extended state Observer(IESO) Active Disturbance Rejection Based Iterative Learning control(ADR-based ILC) Lyapunov-like Approach

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Boosting-Based One-Class SVM for Recognizing True-Fake Chinese Liquors Using Electronic Noses

Boosting-Based One-Class SVM for Recognizing True-Fake Chine...

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World Congress on Intelligent control and Automation

作者： Zhi-Hua Li Qing-Hao Meng Pei-Feng Qi Yu Zhou Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Department of Robotics College of Science and Engineering Ritsumeikan University

ISBN: (纸本)9781467384155

The true-fake detection of Chinese liquors can be considered as a one-class classification problem. Using only positive sample in training process brings about difficulties in determining the optimal parameters of one-class SVM and its kernel. And one-class SVM optimized with conventional grid search method has a low recognition rate of positive test samples. Hence, we proposed a new idea for recognition, namely boosting-based one-class SVM. Six different kinds of liquors were sampled by a self-designed electronic nose system. After the preprocessing and feature extraction of sample data, 18 groups of optimum parameters of one-class SVM were chosen from specified parameter range, each group was used to train a classifier with training algorithm. Then the true-fake decisions were made for test samples with boosting integration rules. Finally the recognition rates of Hongjinjiu and Lanjinjiu positive sample reached 95.24% and 100%, and the recognition rates of both positive and negative sample reached 97.04% and 94.83%, respectively.

关键词： Support Vector Network optimal parameter Electronic Nose Recognition (Psychology) Search methods Chinese Chinese Chinese philosophy Chinese art Feature extraction test sample

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Rapid Detection of Chinese Liquors Using a Portable E-nose Based on C-SVM

Rapid Detection of Chinese Liquors Using a Portable E-nose B...

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World Congress on Intelligent control and Automation

作者： Pei-Feng Qi Qing-Hao Meng Ya-Qi Jing Ming Zeng Shu-Gen Ma Tianjin Key Laboratory of Process Measurement and Control Institute of Robotics and Autonomous Systems Tianjin University Department of Robotics College of Science and Engineering Ritsumeikan University

ISBN: (纸本)9781467384155

We designed a portable electronic nose (e-nose) for rapid detection of Chinese liquors. The e-nose had an evaporation chamber wrapped with silicone heating band, which could vaporize the liquor samples in 1 minute. The sequential sampling and clean-out lasted 100 seconds and 3 minutes, respectively. Hence, one fast detection process could be finished within 3 minutes without regard to clean-out. In order to acquire enough information from array's sampling curves for classification, we chose 60 features (including 6 features per sensor) according to the response curves, the derivative of the response curves and the relative change rate curves of conductivity. Then the dimension of features was reduced by principle component analysis (PCA). Finally, classification of Chinese liquors was performed using C-Support Vector Machine (C-SVM) and the classification rate was 96.7%.

关键词： Sensor arrays Conductivity Principal component analysis Gas detectors Heating Support vector machine classification Support vector machine classification Electronic Nose Gas detectors Sensor arrays principal components analysis conductivity response curves change rate Heating Chinese Chinese Chinese philosophy Chinese art

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Dynamic characteristics analysis of elastic missile

Dynamic characteristics analysis of elastic missile

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Zhaoqing Xu Hailong Pei South China University of Technology China China Key Laboratory of Autonomous Systems and Networked Control South China University of Technology Guangzhou China

The longitudinal and lateral dynamic characteristics of the elastic missile are analyzed in this paper. The aerodynamic force and moment and structure mode are calculated. The unsteady aerodynamics additional caused by vibration is researched through simplified theory; the longitudinal and lateral rigid disturbance motion equations are established in term of the linear theory respectively. The elastic vibration dynamic response can be acquired after the unsteady aerodynamics loads additional are substituted to the disturbance motion equations as perturbation input. The outputs can provide raw data for stability analysis, precision analysis, control and guidance system design. The response of output shows that the longitudinal attitude angles and sideslip angle variation induced by elastic vibration will be very slight, but the variation of bank angle will be great, this result is matched with the experiment phenomenon.

关键词： Aerodynamics Missiles Force Vibrations Mathematical model Vehicle dynamics

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Distance control of soft robot using proximity sensor for beating heart surgery

Distance control of soft robot using proximity sensor for be...

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IEEE/SICE International Symposium on System Integration

作者： Yuting Liu Hui Xie Hesheng Wang Weidong Chen Jingchuan Wang Ministry of Education of China Key Laboratory of System Control and Information Processing Department of Automation Shanghai Jiao Tong University Shanghai China State Key Laboratory of Robotics and System (HIT)

ISBN: (纸本)9781509033300

This paper presents the integration of a soft robot with optical fiber based proximity sensor which is designed for beating heart tracking in minimally invasive surgery (MIS). This cable-driven soft robot, made of silicone rubber, is low cost, lightweight, sterilizable and compatible for magnetic resonance (MR) environment. During non-contact and contact situation of robot manipulation, there is a phase where sensory information (force or image) is missing. Our proximity sensor system is designed to solve this problem. The proximity sensor, a 4-point sensor array, uses 4 pairs of emitter and receiver optical fibers to measure the light intensity of surrounding environment. The 4-point sensor array is mounted on the 10 mm diameter soft robot tip, with channels inside its body where cameras and surgical instruments could be integrated into. It is the first time using proximity sensor to control the motion of soft robot in beating heart surgery for the tracking task. A distance calibration model is built before the tracking experiment. Employing a position control method with gravity compensation, experiment is conducted and test results have shown the validity of our controller and system.

关键词： Robot sensing systems Heart Optical fiber cables Optical fibers Optical fiber sensors Calibration

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An integrated system of detecting end-effector motion states and wafer stick-slip on a wafer transfer robot

An integrated system of detecting end-effector motion states...

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IEEE International Conference on Mechatronics and Automation

作者： Yanjie Liu Haijun Han Lining Sun Kang Li Tao Liu State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin Heilongjiang Province China State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang University Hangzhou Zhejiang Province China

ISBN: (纸本)9781509023974

The online detection of end-effector motion states and wafer stick-slip on a wafer transfer robot is crucial in accessing the quality of trajectory planning and improving the performance of robotic control system. This paper presents a new integrated system for detecting end-effector motion states (position and velocity) and wafer stick-slip on a wafer transfer robot. The system mainly contains a custom-built position-sensing-detector (PSD) camera, an inertial module and a tactile sensor. The end-effector position measurement is achieved by the PSD camera, and the end-effector velocity is estimated by using a kinematic Kalman filter (KKF). The KKF fuses the outputs from the PSD camera and the inertial sensor with a tri-axis accelerator and a tri-axis gyroscope. The wafer stick-slip detection is built on the measurements of the electromagnetic-based tactile sensor. The experimental results show that the integrated system is capable of measuring the position with a repeatability of ± 0.023mm along the X-axis and ± 0.017mm along the F-axis, remarkably improving the accuracy of velocity measurement, and online detecting wafer stick-slip on the wafer transfer robot.

关键词： Cameras Robot vision systems Tactile sensors Estimation Position measurement

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