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Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton designed for power amplification None

Yi LONG, Zhi-jiang DU, Wei-dong WANG, Long HE, Xi-wang MAO, Wei DONG

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 9,   Pages 1076-1085 doi: 10.1631/FITEE.1601667

Abstract: A Kalman smoother is adopted for eliminating noise and smoothing the signal data.

Keywords： Exoskeleton     Physical human-robot interaction     Torque sensor     Human gait     Kalman smoother    

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Sensorless direct torque control for salient-pole PMSM based on extended Kalman filter fed by AC/DC/AC

F. BENCHABANE, A. TITAOUINE, O. BENNIS, K. YAHIA, D. TAIBI, A. GUETTAF

Frontiers in Energy 2012, Volume 6, Issue 3,   Pages 247-254 doi: 10.1007/s11708-012-0190-1

Abstract: paper, a new sensorless interior permanent magnet synchronous motor (IPMSM) drives method with extended KalmanThe Kalman filter is an observer for linear and non-linear systems and is based on the stochastic intromission

Keywords： direct torque control (DTC)     sensorless control     extended Kalman filter (EKF)     permanent magnet synchronous    

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基于ARIMA和Kalman滤波的道路交通状态实时预测 Article

东伟 徐,永东 王,利民 贾,勇 秦,宏辉 董

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 2,   Pages 287-302 doi: 10.1631/FITEE.1500381

Abstract: 本文提出了一种基于ARIMA模型和Kalman滤波算法的道路交通流预测方法。首先，基于道路交通历史数据建立时间序列的ARIMA模型。其次，结合ARIMA模型和Kalman滤波法构建道路交通预测算法，获取Kalman滤波的测量方程和更新方程。然后，基于历史道路交通数据进行算法的参数设定。实验结果表明，基于ARIMA模型和Kalman滤波的实时道路交通状态预测方法是可行的，并且可以获得很高的精度。

Keywords： ARIMA模型；Kalman滤波；建模；训练；预测    

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A novel multiple-outlier-robust Kalman filter Research Articles

Yulong HUANG, Mingming BAI, Yonggang ZHANG,heuedu@163.com,mingming.bai@hrbeu.edu.cn,zhangyg@hrbeu.edu.cn

Frontiers of Information Technology & Electronic Engineering 2022, Volume 23, Issue 3,   Pages 422-437 doi: 10.1631/FITEE.2000642

Abstract: This paper presents a novel multiple-outlier-robust Kalman filter (MORKF) for linear stochastic discrete-time

Keywords： Kalman filtering     Multiple statistical similarity measure     Multiple outliers     Fixed-point iteration    

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Convergence analysis of distributed Kalman filtering for relative sensing networks Research

Che LIN, Rong-hao ZHENG, Gang-feng YAN, Shi-yuan LU

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 9,   Pages 1063-1075 doi: 10.1631/FITEE.1700066

Abstract:

We study the distributed Kalman filtering problem in relative sensing networks with rigorous analysisinformation and measurement communication, we design a novel distributed suboptimal estimator based on the Kalman

Keywords： Relative sensing network     Distributed Kalman filter     Schur stable     Linear matrix inequality    

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Performance analysis of two EM-based measurement bias estimation processes for tracking systems None

Zhi-hua LU, Meng-yao ZHU, Qing-wei YE, Yu ZHOU

Frontiers of Information Technology & Electronic Engineering 2018, Volume 19, Issue 9,   Pages 1151-1165 doi: 10.1631/FITEE.1800214

Abstract: With the assistance of extended Kalman filtering and smoothing, we derive two EM estimation processes

Keywords： Non-linear state-space model     Measurement bias     Extended Kalman filter     Extended Kalman smoothing     Expectation-maximization    

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State identification of home appliance with transient features in residential buildings

Frontiers in Energy 2022, Volume 16, Issue 1,   Pages 130-143 doi: 10.1007/s11708-022-0822-z

Abstract: The states of the working appliances are identified from aggregated power signals using the Kalman filtering

Keywords： nonintrusive load monitoring (NILM)     load disaggregation     online load disaggregation     Kalman filtering    

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Freshness constraints of an age of information based event-triggered Kalman consensus filter algorithm Research Articles

Rui Wang, Yahui Li, Hui Sun, Youmin Zhang,h-sun@cauc.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 1,   Pages 1-140 doi: 10.1631/FITEE.2000206

Abstract: This paper presents the design of a new event-triggered Kalman consensus filter (ET-KCF) algorithm forThe proposed algorithm integrates the traditional , information freshness calculation method, and Kalman

Keywords： Distributed Kalman consensus filter (KCF)     Event-triggered mechanism     Age of information (AoI)     Stability    

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Studies on Precise Spacecraft Navigation and Positioning Using GPS

Xiang Kaiheng,Qu Guangji

Strategic Study of CAE 2004, Volume 6, Issue 1,   Pages 86-91

Abstract: paper, GPS measurement technology, Encke method to solve satellite orbit perturbation and generalized Kalman

Keywords： spacecraft     navigation     GPS     carrier phase     Kalman filtering    

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Induction motors variable speed drives diagnosis through rotor resistance monitoring

K. YAHIA, S. ZOUZOU, F. BENCHABANE

Frontiers in Energy 2012, Volume 6, Issue 4,   Pages 420-426 doi: 10.1007/s11708-012-0192-z

Abstract: This paper first investigates the control of the induction motor using an extended Kalman filter (EKF

Keywords： induction motor     vector control     broken rotor bars (BRBs) diagnostic     extended Kalman filter (EKF)    

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New decentralized control technique based on substructure and LQG approaches

Ying LEI, Ying LIN,

Frontiers of Mechanical Engineering 2009, Volume 4, Issue 4,   Pages 386-392 doi: 10.1007/s11465-009-0041-x

Abstract: Decentralized control is more suitable for structural control of large-scale structures. In this paper, a new decentralized control technique is proposed based on the linear quadratic Gaussian (LQG) and substructure approaches. A large-scale structure is divided into a set of smaller substructures. Each substructure is controlled by its own local controller with interaction forces at substructural interfaces, which are considered as “unknown external inputs” to the substructure concerned. An algorithm of recursive least squares estimation for the unknown excitation is proposed. A numerical example of the decentralized control of a tall building is studied to illustrate the new proposed algorithm. Simulation results show that the proposed decentralized control provides satisfactory control performance when comparing with the conventional centralized LQG control algorithm and is viable for the future structural control of large-scale structures.

Keywords： substructures     decentralized control     linear quadratic Gaussian (LQG)     Kalman filter     unknown input     least-squares    

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Tacholess order-tracking approach for wind turbine gearbox fault detection

Yi WANG, Yong XIE, Guanghua XU, Sicong ZHANG, Chenggang HOU

Frontiers of Mechanical Engineering 2017, Volume 12, Issue 3,   Pages 427-439 doi: 10.1007/s11465-017-0452-z

Abstract:

Monitoring of wind turbines under variable-speed operating conditions has become an important issue in recent years. The gearbox of a wind turbine is the most important transmission unit; it generally exhibits complex vibration signatures due to random variations in operating conditions. Spectral analysis is one of the main approaches in vibration signal processing. However, spectral analysis is based on a stationary assumption and thus inapplicable to the fault diagnosis of wind turbines under variable-speed operating conditions. This constraint limits the application of spectral analysis to wind turbine diagnosis in industrial applications. Although order-tracking methods have been proposed for wind turbine fault detection in recent years, current methods are only applicable to cases in which the instantaneous shaft phase is available. For wind turbines with limited structural spaces, collecting phase signals with tachometers or encoders is difficult. In this study, a tacholess order-tracking method for wind turbines is proposed to overcome the limitations of traditional techniques. The proposed method extracts the instantaneous phase from the vibration signal, resamples the signal at equiangular increments, and calculates the order spectrum for wind turbine fault identification. The effectiveness of the proposed method is experimentally validated with the vibration signals of wind turbines.

Keywords： wind turbine     variable-speed operating conditions     Vold-Kalman filtering     tacholess order tracking    

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A hybrid visual servo control method for simultaneously controlling a nonholonomic mobile and a manipulator Research Articles

Wei Li, Rong Xiong,li_wei_666@163.com,rxiong@zju.edu.cn

Frontiers of Information Technology & Electronic Engineering 2021, Volume 22, Issue 2,   Pages 141-286 doi: 10.1631/FITEE.1900460

Abstract: Visual servo control rules that refer to the control methods of robot motion planning using image data acquired from the camera mounted on the robot have been widely applied to the motion control of robotic arms or mobile robots. The methods are usually classified as image-based visual servo, position-based visual servo, and (HVS) control rules. enhances the working range and flexibility of robotic arms. However, there is little work on applying visual servo control rules to the motion of the whole robot. We propose an HVS motion control method for a robot which combines a six-degree-of-freedom (6-DOF) robotic arm with a nonholonomic mobile base. Based on the kinematic differential equations of the robot, the matrix of the whole robot is derived, and the HVS control equation is derived using the whole Jacobian matrix combined with position and visual image information. The distance between the gripper and target is calculated through the observation of the marker by a camera mounted on the gripper. The differences between the positions of the markers ’ feature points and the expected positions of them in the image coordinate system are also calculated. These differences are substituted into the control equation to obtain the speed control law of each degree of freedom of the robot. To avoid the position error caused by observation, we also introduce the to correct the positions and orientations of the end of the manipulator. Finally, the proposed algorithm is validated on a platform consisting of a Bulldog chassis, a UR5 robotic arm, and a ZED camera.

Keywords： Mobile manipulation     Hybrid visual servo     Eye-in-hand     Global Jacobian     Kalman filter    

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Contribution to the design of robotized tele-echography system

T. ESSOMBA, M. A. LARIBI, J. P. GAZEAU, S. ZEGHLOUL, G. POISSON

Frontiers of Mechanical Engineering 2012, Volume 7, Issue 2,   Pages 135-149 doi: 10.1007/s11465-012-0326-3

Abstract: Its orientation control strategy is based on a use of an adaptative kalman filter which efficiency was

Keywords： tele-echography     motion capture     spherical parallel mechanism     genetic algorithm     adaptative kalman filter    

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A robust object tracking framework based on a reliable point assignment algorithm Article

Rong-feng ZHANG, Ting DENG, Gui-hong WANG, Jing-lun SHI, Quan-sheng GUAN

Frontiers of Information Technology & Electronic Engineering 2017, Volume 18, Issue 4,   Pages 545-558 doi: 10.1631/FITEE.1601464

Abstract: Moreover, a Kalman filter is applied to the detection step to speed up the detection processing and reduceFinally, the proposed RPA is integrated into the tracking-learning-detection (TLD) framework with the Kalman

Keywords： wavelet coefficients     Reliable point assignment     Object tracking     Tracking learning detection (TLD)     Kalman    

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Title Author Date Type Operation

Physical human-robot interaction estimation based control scheme for a hydraulically actuated exoskeleton designed for power amplification

Yi LONG, Zhi-jiang DU, Wei-dong WANG, Long HE, Xi-wang MAO, Wei DONG

Journal Article

Sensorless direct torque control for salient-pole PMSM based on extended Kalman filter fed by AC/DC/AC

F. BENCHABANE, A. TITAOUINE, O. BENNIS, K. YAHIA, D. TAIBI, A. GUETTAF

Journal Article

基于ARIMA和Kalman滤波的道路交通状态实时预测

东伟 徐,永东 王,利民 贾,勇 秦,宏辉 董

Journal Article

A novel multiple-outlier-robust Kalman filter

Yulong HUANG, Mingming BAI, Yonggang ZHANG,heuedu@163.com,mingming.bai@hrbeu.edu.cn,zhangyg@hrbeu.edu.cn

Journal Article

Convergence analysis of distributed Kalman filtering for relative sensing networks

Che LIN, Rong-hao ZHENG, Gang-feng YAN, Shi-yuan LU

Journal Article

Performance analysis of two EM-based measurement bias estimation processes for tracking systems

Zhi-hua LU, Meng-yao ZHU, Qing-wei YE, Yu ZHOU

Journal Article

State identification of home appliance with transient features in residential buildings

Journal Article

Freshness constraints of an age of information based event-triggered Kalman consensus filter algorithm

Rui Wang, Yahui Li, Hui Sun, Youmin Zhang,h-sun@cauc.edu.cn

Journal Article

Studies on Precise Spacecraft Navigation and Positioning Using GPS

Xiang Kaiheng,Qu Guangji

Journal Article

Induction motors variable speed drives diagnosis through rotor resistance monitoring

K. YAHIA, S. ZOUZOU, F. BENCHABANE

Journal Article

New decentralized control technique based on substructure and LQG approaches

Ying LEI, Ying LIN,

Journal Article

Tacholess order-tracking approach for wind turbine gearbox fault detection

Yi WANG, Yong XIE, Guanghua XU, Sicong ZHANG, Chenggang HOU

Journal Article

A hybrid visual servo control method for simultaneously controlling a nonholonomic mobile and a manipulator

Wei Li, Rong Xiong,li_wei_666@163.com,rxiong@zju.edu.cn

Journal Article

Contribution to the design of robotized tele-echography system

T. ESSOMBA, M. A. LARIBI, J. P. GAZEAU, S. ZEGHLOUL, G. POISSON

Journal Article

A robust object tracking framework based on a reliable point assignment algorithm

Rong-feng ZHANG, Ting DENG, Gui-hong WANG, Jing-lun SHI, Quan-sheng GUAN

Journal Article