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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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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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Optimization of the impedance controller for the low impact docking

Optimization of the impedance controller for the low impact ...

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International Conference on Information and Automation (ICIA)

作者： Gangfeng Liu Zenghui Xie Ge Li Changle 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)9781509041039

In order to make full use of the ability of the low impact docking mechanism to reduce the contact force in the docking process, the impedance control strategy is designed. And then a kind of parameter adjusting flow is proposed for the impedance controller based on the influence rules of the target impedance. To perform a low impact docking mission unaware of the initial position error and orientation error, two kinds of control strategies including integral impedance controller (IIC) and distributed impedance controller (DIC) are proposed, and a co-simulation of the control strategies using the MATLAB and ADAMS software are carried out to seek out the advantages and disadvantages of these strategies. The conclusions are drawn that the DIC is superior to the IIC, which lay the theoretical foundation for the subsequent docking experiments.

关键词： Force Impedance Damping Torque MATLAB Kinematics Couplings

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A Potential Saturation Value of World Population is Near?

A Potential Saturation Value of World Population is Near?

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Yunong Zhang Nanhao Wang Liangyu He Wan Li Hongzhou Tan School of Data and Computer Science Sun Yat-sen University (SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

Sigmoid function was applied in a population growth model by Verhulst in 1838, of which the soundness has been tested by history. With the rapid development of computers' both hardware and software, it is accessible and worthwhile to build multiple sigmoid functions(MSF) models to describe and predict the potential saturation value of the world population. Via computer simulations, one of MSF models achieves a reasonable result that the potential saturation value of the world population is approximately 9.6 billion.

关键词： Multiple sigmoid functions model saturation value world population over-fitting

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Proposal and Verification of Four Fundamental Operations of Time-Varying Numbers

Proposal and Verification of Four Fundamental Operations of ...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Sheng Wu Yunong Zhang Dechao Chen Jian Li Yaqiong Ding School of Information Science and Technology Sun Yat-sen University (SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

Four fundamental operations of time-varying numbers are widely encountered in systems and signals. Given the irreplaceable role of four fundamental operations and their timevarying properties, traditional arithmetics intrinsically aim at static(or say, time-invariant) problems solving. When running on relatively low speed processing units, the lagging errors of traditional arithmetics may become quite large and *** eliminate the lagging errors of time-varying four fundamental operations in potential signal processing systems, based on Zhang dynamics(ZD), real-time computing models for four fundamental operations of time-varying numbers are proposed,constructed and investigated. The lagging-error-free solutions for four fundamental operations of time-varying numbers are obtained in this paper. Through four concise lemmas, the laggingerror-free properties are guaranteed. Correspondingly illustrative examples of time-varying four fundamental operations are also presented in turn. Additionally, simulation results are shown to substantiate the high accuracy of the ZD method for four fundamental operations of time-varying numbers.

关键词： Time-varying problem solving Zhang dynamics lagging errors online solutions four fundamental operations

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UK Population Forecast Using Twice-Pruning Chebyshev-Polynomial WASD Neuronet

UK Population Forecast Using Twice-Pruning Chebyshev-Polynom...

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第28届中国控制与决策会议

作者： Yunong Zhang Wan Li Binbin Qiu HongzhouTan Ziyi Luo School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781467397155

As an important branch of artificial intelligence,artificial neuronet has been well developed in many data learning and forecasting *** this paper,a weights-and-structure-determination(WASD) neuronet model for population forecast is proposed and *** from previous works,the cubic spline method is applied to restoring the historical population data evenly in order to overcome the deficiency of previous works in the neuronet ***,a twice-pruning structure determination algorithm for hidden-neuron selection is proposed to improve the forecast capability of the neuronet *** numerical experiments conducted to verify the inspiring capability of such a model,a UK population forecast based on the neuronet is thus shown and *** to the forecast results,the UK population is most likely to increase with a steady growing rate in the following 15 years.

关键词： Chebyshev Polynomial WASD Neuronet Population Forecast

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The Second-Order ZD,GD and Hybrid systems Solving Nonlinear Equations Compared with Other Dynamics

The Second-Order ZD,GD and Hybrid Systems Solving Nonlinear ...

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第28届中国控制与决策会议

作者： Yunong Zhang Jinjin Wang Tianjian Qiao Zhengli Xiao Mingzhi Mao School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781467397155

Solving nonhnear equations has become increasingly significant and indispensable in many *** the recent decade,two powerful methods,the Zhang dynamics(ZD) method and the gradient dynamics(GD) method have been extensively investigated and implemented in solving nonhnear *** addition,some conventional methods,such as the dynamic relaxation method(DRM),redundant manipulators dynamics(RMD),and Langevin dynamics(LD),can also be applied to solve nonhnear *** this paper,we propose four novel types of systems based on the ZD method,the GD method and the hybrid dynamics methods to solve nonlinear equations in time-invariant and time-variant situations,*** addition,it is worth pointing out that,by comparison,the four proposed systems depicted in the second-order dynamics are evidently quite different from and more general than some other conventional systems/dynamics for solving nonhnear equations,which all constitute the unified second-order methodology for nonlinear equations solving.

关键词： Zhang Dynamics Gradient Dynamics Time-Invariant Nonlinear Equations Time-Variant Nonlinear Equations Comparison

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Application of stand-off double-pulse laser-induced breakdown spectroscopy in elemental analysis of magnesium alloy

Application of stand-off double-pulse laser-induced breakdow...

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作者： Qi, Lifeng Sun, Lanxiang Xin, Yong Cong, Zhibo Li, Yang Yu, Haibin Key Laboratory of Networked Control Systems Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China

In this study, a stand-off and collinear double pulse laser-induced breakdown spectroscopy (DP LIBS) system was designed, and the magnesium alloy samples at a distance of 2.5 m away from the LIBS system were measured. The effect of inter-pulse delay on spectra was studied, and the signal enhancement was observed compared to the single pulse LIBS (SP LIBS). The morphology of the ablated crater on the sample indicated a higher efficiency of surface pretreatment in DP LIBS. The calibration curves of Ytterbium (Y) and Zirconium (Zr) were investigated. The square of the correlation coefficient of the calibration curve of element Y reached up to 0.9998.

关键词： Magnesium alloys

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Understand Scene Categories by Objects: A Semantic Regularized Scene Classifier Using Convolutional Neural Networks

Understand Scene Categories by Objects: A Semantic Regulariz...

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IEEE International Conference on robotics and Automation

作者： Yiyi Liao Sarath Kodagoda Yue Wang Lei Shi Yong Liu the State Key Laboratory of Industrial Control Technology and Institute of Cyber-Systems and Control Zhejiang University Zhejiang 310027 China. the Centre for Autonomous Systems (CAS) The University of Technology Sydney Australia.

ISBN: (纸本)9781467380270

Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine learning technique of deep learning to enhance scene understanding, particularly in robotics applications. As scene images have larger diversity than the iconic object images, it is more challenging for deep learning methods to automatically learn features from scene images with less samples. Inspired by human scene understanding based on object knowledge, we address the problem of scene classification by encouraging deep neural networks to incorporate object-level information. This is implemented with a regularization of semantic segmentation. With only 5 thousand training images, as opposed to 2.5 million images, we show the proposed deep architecture achieves superior scene classification results to the state-of-the-art on a publicly available SUN RGB-D dataset. In addition, performance of semantic segmentation, the regularizer, also reaches a new record with refinement derived from predicted scene labels. Finally, we apply our model trained on SUN RGB-D dataset to a set of images captured in our university using a mobile robot, demonstrating the generalization ability of the proposed algorithm.

关键词： Categories Objects RGB-D

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The novel control method for the adit data collection system

The novel control method for the adit data collection system

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IEEE International Conference on Mechatronics and Automation

作者： Lei Yang En Li Zize Liang The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China University of Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781509023974

With the continuous development of modern surveying and mapping technology, robotics has been gradually adopted to achieve the autonomous digital measurements. In this paper, a mobile robot platform is designed and controlled to travel inside the Adit environment to collect data for 3D reconstruction and measurement. In traditional control applications, PID-based methods(PID) are widely used for the motion servo control and present good performance in most cases. However, for some nonlinear systems, especially for the complicated applications in Adit environment, traditional PID-based method cannot get desired results. Meanwhile PID controller with fractional order(FPID) can have better control effect than traditional integer order PID controllers and is addressed in the application for the mobile robot platform inside the Adit. In this paper, a mobile robot platform is designed and the servo control system of the mobile robot platform is designed and analyzed. Meanwhile, a motion controller based on fractional order PID method is designed. With the following simulations, performance of the presented method is compared with that of traditional integer order PID method which shows that the fractional order PID controller is easy to design and has the ability of fast response and robust.

关键词： Mobile robots Tuning Servosystems Cameras Fractional calculus Automation

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A kind of online self-tuning smith predictor

A kind of online self-tuning smith predictor

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IEEE International Conference on Mechatronics and Automation

作者： Xu Chen Fei Meng Xiaopeng Chen Qiang Huang Intelligent Robotics Institute Beijing Institute of Technology Beijing China Beijing Advanced Innovation Center for Intelligent Robots and System Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Beijing Institute of Technology Beijing China International Joint Research Laboratory of Biomimetic Key Laboratory of Intelligent Control and Decision of Comp lex System Beijing China

ISBN: (纸本)9781509023974

This paper presents an online self-tuning Smith Predictor for the First Order Plus Dead Time Model (FOPDT). It can tune time delay through oscillated input and output. Realtime phase difference detection is used to obtain the phase difference between the input and the output. An online tuner is used to minimize the phase difference. Once the phase difference is minimized, the exact time delay is completely compensated. Our method is suitable for both systems with constant time delay or variant time delay.

关键词： Delay effects Temperature control Delays Predictive models Oscillators Robots

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