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World Congress on Intelligent control and Automation (WCICA)

作者： Yunong Zhang Sitong Ding Jianfeng Wen Yaqiong Ding Mingzhi Mao Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China Department of Computer Science Guangdong Polytechnic Normal University Guangzhou China

ISBN: (纸本)9781467384155

An earthquake-forecasting attempt is presented in this work via combining the weights and structure policy (WASP) and addition-subtraction frequency (ASF) algorithms. Specifically, based on the application of three-layer feedforward neuronets equipped with WASP algorithm, further using ASF algorithm, this work attempts to forecast a Japan earthquake with Mj 7.2 or above. Note that past earthquake dates are the only data used in this study. The feasibility and effectiveness of this attempt are verified via the numerical experiments with consistency analysis on obtained dates. Besides, according to the experimental results, an earthquake with Mj 7.2 or above may occur in August 2016 in Japan. Furthermore, with the highest possibility, the date of such an earthquake may occur is August 9, 2016.

关键词： Earthquakes Neurons Forecasting Feedforward neural networks Zirconium Training Algorithm design and analysis

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A Priority-aware Frequency Domain Polling MAC Protocol for OFDMA-based Networks in Cyber-physical systems

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IEEE/CAA Journal of Automatica Sinica 2015年第4期2卷 412-421页

作者： Meng Zheng Junru Lin Wei Liang Haibin Yu Key Laboratory of Networked Control Systems Shenyang Institute of AutomationChinese Academy of Sciences Huawei Technologies Co. Ltd.

Wireless networking in cyber-physical systems (CPSs) is characteristically different from traditional wireless systems due to the harsh radio frequency environment and applications that impose high real-time and reliability constraints. One of the fundamental considerations for enabling CPS networks is the medium access control protocol. To this end, this paper proposes a novel priority-aware frequency domain polling medium access control (MAC) protocol, which takes advantage of an orthogonal frequency-division multiple access (OFDMA) physical layer to achieve instantaneous priority-aware polling. Based on the polling result, the proposed work then optimizes the resource allocation of the OFDMA network to further improve the data reliability. Due to the non-polynomial-complete nature of the OFDMA resource allocation, we propose two heuristic rules, based on which an efficient solution algorithm to the OFDMA resource allocation problem is designed. Simulation results show that the reliability performance of CPS networks is significantly improved because of this work. © 2014 Chinese Association of Automation.

关键词： Access control Embedded systems Frequency domain analysis Medium access control Network layers Orthogonal frequency division multiplexing Polynomials Real time systems Reliability Resource allocation Wireless networks

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Dynamics Analysis of Bionic Parallel Joint Mechanism for the Snake Robot

Dynamics Analysis of Bionic Parallel Joint Mechanism for the...

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第35届中国控制会议

作者： Chuncheng Wu Zhengcai Cao Qing Xiao Yili Fu Key Laboratory of Symbolic Computation and Knowledge Engineering of Ministry of Education Jilin University State Key Laboratory of Robotics and Systems Harbin Institute of Technology College of Information Science and Technology Beijing University of Chemical Technology

ISBN: (纸本)9781509009107

Joint mechanism is a key factor for a snake robot adjusting its postures adapted to clutter environments in search and rescue *** joint mechanisms in prior research simply consist of serially connected revolute joints,which are lack of great load carrying *** nature snake structure,a modular bionic parallel joint mechanism(BPJM) is proposed for the rescue snake *** analysis of the BPJM is necessary for its optimal design and control,providing the force and constraint that must be resisted by joints,links and *** reduce the dynamics computation load,Newton equation and Euler equation are combined by synchronizing the inertial force and inertial moment with the aid of screw ***,the dynamics equations for moving platform and links are formulated in a simplified *** friction at the joints and external force acting on BPJM,which actually affect the motion,are both considered in the ***,the virtual prototype is provided in order to visualize the joint mechanism and the numerical results from the dynamics analysis are given.

关键词： Rescue snake robot Dynamics analysis Bionic parallel joint mechanism Screw theory Newton method

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Renewable-load matching dispatch for isolated power systems with intermittent renewable sources

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International Journal of Simulation and Process Modelling 2016年第3-4期11卷 270-280页

作者： Shen, Ying Zhao, Qianchuan Li, Mingyang Center for Intelligent and Networked Systems Department of Automation TNList Tsinghua University Beijing100084 China School of Control and Computer Engineering State Key Laboratory of Alternate Power Systems with Renewable Energy Sources North China Electric Power University Beijing102206 China

This paper proposes a renewable-load matching approach for dispatching generation resources in power systems with high renewable power penetrations. In order to utilise the capability of renewable resources to follow the load variations, the proposed matching approach is to restrict the output of renewable generators by a load-related bound in each dispatch time period. The dispatch problem is formulated to minimise the system cost comprising fuel, emission, and regulation costs as well as renewable power curtailment penalty. Compared with the traditional approach of treating renewable resources as negative loads, the proposed matching approach can significantly reduce the system cost by including the dynamic control of renewable power output. Moreover, the multi-objective function provides a way to study the trade-off among different costs in power systems with renewable resources. Solution is obtained by transforming the optimisation problem into its equivalent form and using local search algorithms. Simulations are implemented on a specific isolated power system with four generators to demonstrate the advantage of proposed approach. Copyright © 2016 Inderscience Enterprises Ltd.

关键词： Costs

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A framework for multi-session RGBD SLAM in low dynamic workspace environment

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CAAI Transactions on Intelligence Technology 2016年第1期1卷 90-103页

作者： Yue Wang Shoudong Huang Rong Xiong Jun Wu State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou PR China Centre for Autonomous Systems Faculty of Engineering and IT University of Technology Sydney Australia

Mapping in the dynamic environment is an important task for autonomous mobile robots due to the unavoidable changes in the workspace. In this paper, we propose a framework for RGBD SLAM in low dynamic environment, which can maintain a map keeping track of the latest environment. The main model describing the environment is a multi-session pose graph, which evolves over the multiple visits of the robot. The poses in the graph will be pruned when the 3D point scans corresponding to those poses are out of date. When the robot explores the new areas, its poses will be added to the graph. Thus the scans kept in the current graph will always give a map of the latest environment. The changes of the environment are detected by out-of-dated scans identification module through analyzing scans collected at different sessions. Besides, a redundant scans identification module is employed to further reduce the poses with redundant scans in order to keep the total number of poses in the graph with respect to the size of environment. In the experiments, the framework is first tuned and tested on data acquired by a Kinect from laboratory environment. Then the framework is applied to external dataset acquired by a Kinect II from a workspace of an industrial robot in another country, which is blind to the development phase, for further validation of the performance. After this two-step evaluation, the proposed framework is considered to be able to manage the map in date in dynamic or static environment with a noncumulative complexity and acceptable error level.

关键词： Multi-session SLAM RGBD sensor Low dynamic mapping

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Towards multi-functional light-weight long-term real-time coastal ocean observation system 11

Towards multi-functional light-weight long-term real-time co...

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

作者： Jiang, Zhenfeng Ma, Yanming Chen, Jiali Wang, Zigeng Peng, Zheng Liu, Jun Han, Guitao Smart Ocean Industry Research Institute Nantong Jiangsu226000 China Computer Science and Engineering Department University of Connecticut StorrsCT06269 United States Computer Science Deparment City College of New York NY10031 United States Computer Science and Technology Department Jilin University Changchun Jilin130012 China State Key Laboratory of Robotics Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai200240 China

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The structure design and analysis of a wheel-track robot

The structure design and analysis of a wheel-track robot

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IEEE International Conference on Mechatronics and Automation

作者： Dengqi Cui Wenzeng Guo Han Dong Xueshan Gao School of Mechatronical Engineering Beijing Institute of Technology Beijing China State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509023974

This paper mainly introduces the system components of the wheel-track robot, mainly comprising a body structure and control system. Through the analysis of the driving power and the power of the selection of crawling, motor drive of the robot is chose. Variable structure adopts a screw rod transmission mechanism and the screw rod transmission structure is designed, and the simulation in variable structure verifies the screw drive design principle of rationality. Finally, variable structure of the robot in expansion and contraction experiments were carried out. Experimental results show that the correctness of the variable structure.

关键词： Conferences Mechatronics Automation Three-dimensional displays

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Automatic Lumbar Vertebrae Detection Based on Feature Fusion Deep Learning for Partial Occluded C-arm X-ray Images

Automatic Lumbar Vertebrae Detection Based on Feature Fusion...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Yang Li Wei Liang Yinlong Zhang Haibo An Jindong Tan University of Chinese Academy of Sciences Beijing China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Department of Mechanical University of Tennessee Konxville TN USA

ISBN: (纸本)9781457702198

Automatic and accurate lumbar vertebrae detection is an essential step of image-guided minimally invasive spine surgery (IG-MISS). However, traditional methods still require human intervention due to the similarity of vertebrae, abnormal pathological conditions and uncertain imaging angle. In this paper, we present a novel convolutional neural network (CNN) model to automatically detect lumbar vertebrae for C-arm X-ray images. Training data is augmented by DRR and automatic segmentation of ROI is able to reduce the computational complexity. Furthermore, a feature fusion deep learning (FFDL) model is introduced to combine two types of features of lumbar vertebrae X-ray images, which uses sobel kernel and Gabor kernel to obtain the contour and texture of lumbar vertebrae, respectively. Comprehensive qualitative and quantitative experiments demonstrate that our proposed model performs more accurate in abnormal cases with pathologies and surgical implants in multi-angle views.

关键词： X-ray imaging Kernel Surgery Pathology Feature extraction Computational modeling Machine learning

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Anti-windup-based Dynamic controller Synthesis for Lipschitz systems under Actuator Saturation

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IEEE/CAA Journal of Automatica Sinica 2015年第4期2卷 358-365页

作者： Naizhou Wang Hailong Pei Yong Tang Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSouth China University of Technology Key Laboratory of Surface Functional Structure Manufacturing of Guangdong Higher Education Institutes School of Mechanical and Automotive EngineeringSouth China University of Technology

This paper presents a new method for simultaneous synthesis of dynamic controller and static anti-windup compensator for saturated Lipschitz systems. Thanks to the reformulated Lipschitz property, the Lipschitz systems can be transformed into LPV (linear parameter-varying) systems whose system matrices are affine in a parameter matrix. Based on the modified sector condition dealing with saturation nonlinearity, the design of a nonlinear anti-windup-based controller leads to the solvability of a set of bilinear matrix inequalities (BMI) on the vertices of a bounded convex set which can be solved by the so-called iterative linear matrix inequality (ILMI) algorithm. A numerical example is presented to illustrate the effectiveness of the proposed method. © 2014 Chinese Association of Automation.

关键词： controllers Iterative methods Linear algebra Matrix algebra Numerical methods Set theory Synthesis (chemical)

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Research of the low impact space docking mechanism based on impedance control strategy

Research of the low impact space docking mechanism based on ...

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IEEE/ASME International Conference on Mechtronic and Embedded systems and Applications, MESA

作者： Zenghui Xie Gangfeng Liu Changle Li Ge Li Jie Zhao Liyi Li State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin China School of Electrical Engineering and Automation Harbin Institute of Technology Harbin China

ISBN: (纸本)9781509061914

In order to solve the violent collision and energy consumption problems of conventional space docking mechanism in the docking process, we developed a set of low impact docking mechanism based on impedance control. The docking mechanism adopts the peripheral docking type, the active end of which is a 6-UPS parallel mechanism which is driven by six electric cylinders installed on the fixed platform. For the purpose of the safety of the docking mechanism in the process of docking buffer, we need to monitor the contact force between the active end and environment, so tension-pressure sensor is installed on the end of each electric cylinder. This paper designed a kind of highly efficient force coupling algorithm to convert the six separate force into a six-dimensional integral contact force and then established the dynamic relationship between the contact force and the adjustment of the position and posture to ensure the contact force in the docking process not appear large overshoot. Finally, we completed the compliant docking experiments, which proved that the scheme of low impact docking mechanism is feasible and that the docking mechanism can finish the expected mission.

关键词： Force Fasteners Mobile communication Couplings Impedance Space vehicles Force sensors

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