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Vol. 4,  No. 4, 2017

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PERSPECTIVE AND REVIEW
Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence
Fei-Yue Wang, Nan-Ning Zheng, Dongpu Cao, Clara Marina Martinez, Li Li, Teng Liu
2017, 4(4): 577-587. doi: 10.1109/JAS.2017.7510598
Abstract(3674) HTML (1119) PDF(598)
Abstract:
The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems (CPSS) framework aiming at synergizing connec...
Generative Adversarial Networks:Introduction and Outlook
Kunfeng Wang, Chao Gou, Yanjie Duan, Yilun Lin, Xinhu Zheng, Fei-Yue Wang
2017, 4(4): 588-598. doi: 10.1109/JAS.2017.7510583
Abstract(2813) HTML (1105) PDF(404)
Abstract:
Recently, generative adversarial networks (GANs) have become a research focus of artificial intelligence. Inspired by two-player zero-sum game, GANs comprise a generator and a discriminator, both trained under the adversarial learning idea. The goal of GANs is to estimate the potential distribution ...
SPECIAL ISSUE ON HUMAN-CENTERED INTELLIGENT ROBOTS:ISSUES AND CHALLENGES
Guest Editorial forSpecial Issue on Human-centered Intelligent Robots:Issues and Challenges
Zhijun Li, C. L. Philip Chen, Wei He
2017, 4(4): 599-601. doi: 10.1109/JAS.2017.7510601
Abstract(1347) HTML (781) PDF(229)
Abstract:
A Survey of Human-centered Intelligent Robots: Issues and Challenges
Wei He, Zhijun Li, C. L. Philip Chen
2017, 4(4): 602-609. doi: 10.1109/JAS.2017.7510604
Abstract(3226) HTML (1103) PDF(532)
Abstract:
Intelligent techniques foster the dissemination of new discoveries and novel technologies that advance the ability of robots to assist and support humans. The human-centered intelligent robot has become an important research field that spans all of the robot capabilities including navigation, intell...
Tracking Control for a Cushion Robot Based on Fuzzy Path Planning With Safe Angular Velocity
Ping Sun, Zhuang Yu
2017, 4(4): 610-619. doi: 10.1109/JAS.2017.7510607
Abstract(1560) HTML (791) PDF(168)
Abstract:
This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle avoidance is obtained. The angular velocity is constrained by the controller, so the ...
Continuous Robust Control for Series ElasticActuator With Unknown Payload Parametersand External Disturbances
Meng Wang, Lei Sun, Wei Yin, Shuai Dong, Jingtai Liu
2017, 4(4): 620-627. doi: 10.1109/JAS.2017.7510610
Abstract(1395) HTML (766) PDF(85)
Abstract:
In this paper, the torque tracking control problem for a class of series elastic actuators (SEAs) in the presence of unknown payload parameters and external disturbances is investigated. The uncertainties/disturbances rejection problem for SEAs is addressed from the view of a continuous nonlinear ro...
Robust Control Design of Wheeled Inverted Pendulum Assistant Robot
Magdi S. Mahmoud, Mohammad T. Nasir
2017, 4(4): 628-638. doi: 10.1109/JAS.2017.7510613
Abstract(1610) HTML (785) PDF(305)
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This paper examines the design concept and mobile control strategy of the human assistant robot I-PENTAR (inverted pendulum type assistant robot). The motion equation is derived considering the non-holonomic constraint of the twowheeled mobile robot. Different optimal control approaches are applied ...
Motor Imagery and Error Related Potential Induced Position Control of a Robotic Arm
Saugat Bhattacharyya, Amit Konar, D.N. Tibarewala
2017, 4(4): 639-650. doi: 10.1109/JAS.2017.7510616
Abstract(1597) HTML (792) PDF(95)
Abstract:
The paper introduces an electroencephalography (EEG) driven online position control scheme for a robot arm by utilizing motor imagery to activate and error related potential (ErrP) to stop the movement of the individual links, following a fixed (pre-defined) order of link selection. The right (left)...
Intent Pattern Recognition of Lower-limb Motion Based on Mechanical Sensors
Zuojun Liu, Wei Lin, Yanli Geng, Peng Yang
2017, 4(4): 651-660. doi: 10.1109/JAS.2017.7510619
Abstract(1527) HTML (791) PDF(136)
Abstract:
Based on the regularity nature of lower-limb motion, an intent pattern recognition approach for above-knee prosthesis is proposed in this paper. To remedy the defects of recognizer based on electromyogram (EMG), we develop a pure mechanical sensor architecture for intent pattern recognition of lower...
A Target Grabbing Strategy for Telerobot Based on Improved Stiffness Display Device
Pengwen Xiong, Xiaodong Zhu, Aiguo Song, Lingyan Hu, Xiaoping P. Liu, Lihang Feng
2017, 4(4): 661-667. doi: 10.1109/JAS.2016.7510256
Abstract(1342) HTML (776) PDF(123)
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Most target grabbing problems have been dealt with by computer vision system, however, computer vision method is not always enough when it comes to the precision contact grabbing problems during the teleoperation process, and need to be combined with the stiffness display to provide more effective i...
A Facial Expression Emotion Recognition Based Human-robot Interaction System
Zhentao Liu, Min Wu, Weihua Cao, Luefeng Chen, Jianping Xu, Ri Zhang, Mengtian Zhou, Junwei Mao
2017, 4(4): 668-676. doi: 10.1109/JAS.2017.7510622
Abstract(2107) HTML (784) PDF(179)
Abstract:
A facial expression emotion recognition based human-robot interaction (FEER-HRI) system is proposed, for which a four-layer system framework is designed. The FEERHRI system enables the robots not only to recognize human emotions, but also to generate facial expression for adapting to human emotions....
Automatic Feature Point Detection and Tracking of Human Actions in Time-of-flight Videos
Xiaohui Yuan, Longbo Kong, Dengchao Feng, Zhenchun Wei
2017, 4(4): 677-685. doi: 10.1109/JAS.2017.7510625
Abstract(1454) HTML (773) PDF(138)
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Detecting feature points on the human body in video frames is a key step for tracking human movements. There have been methods developed that leverage models of human pose and classification of pixels of the body image. Yet, occlusion and robustness are still open challenges. In this paper, we prese...
Interpreting and Extracting Open Knowledge for Human-Robot Interaction
Dongcai Lu, Xiaoping Chen
2017, 4(4): 686-695. doi: 10.1109/JAS.2017.7510628
Abstract(1399) HTML (785) PDF(116)
Abstract:
A more natural way for non-expert users to express their tasks in an open-ended set is to use natural language. In this case, a human-centered intelligent agent/robot is required to be able to understand and generate plans for these naturally expressed tasks. For this purpose, it is a good way to en...
Human Interaction Dynamics for Its Use in Mobile Robotics:Impedance Control for Leader-follower Formation
Daniel Herrera, Flavio Roberti, Marcos Toibero, Ricardo Carelli
2017, 4(4): 696-703. doi: 10.1109/JAS.2017.7510631
Abstract(1377) HTML (763) PDF(109)
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A complete characterization of the behavior in human-robot interactions (HRI) includes both:the behavioral dynamics and the control laws that characterize how the behavior is regulated with the perception data. In this way, this work proposes a leader-follower coordinate control based on an impedanc...
Teaching the User By Learning From the User:Personalizing Movement Control in Physical Human-robot Interaction
Ali Safavi, Mehrdad H. Zadeh
2017, 4(4): 704-713. doi: 10.1109/JAS.2017.7510634
Abstract(1332) HTML (783) PDF(117)
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This paper proposes a novel approach for physical human-robot interactions (pHRI), where a robot provides guidance forces to a user based on the user performance. This framework tunes the forces in regards to behavior of each user in coping with different tasks, where lower performance results in hi...
Augmented Virtual Stiffness Rendering of a Cable-driven SEA for Human-Robot Interaction
Ningbo Yu, Wulin Zou, Wen Tan, Zhuo Yang
2017, 4(4): 714-723. doi: 10.1109/JAS.2017.7510637
Abstract(1618) HTML (770) PDF(134)
Abstract:
Human-robot interaction (HRI) is fundamental for human-centered robotics, and has been attracting intensive research for more than a decade. The series elastic actuator (SEA) provides inherent compliance, safety and further benefits for HRI, but the introduced elastic element also brings control dif...
PAPERS
Modified Grey Model Predictor Design Using Optimal Fractional-order Accumulation Calculus
Yang Yang, Dingyu Xue
2017, 4(4): 724-733. doi: 10.1109/JAS.2017.7510355
Abstract(1249) HTML (761) PDF(195)
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The major advantage of grey system theory is that both incomplete information and unclear problems can be processed precisely. Considering that the modeling of grey model (GM) depends on the preprocessing of the original data, the fractional-order accumulation calculus could be used to do preprocess...
Applications of Fractional Lower Order Time-frequency Representation to Machine Bearing Fault Diagnosis
Junbo Long, Haibin Wang, Peng Li, Hongshe Fan
2017, 4(4): 734-750. doi: 10.1109/JAS.2016.7510190
Abstract(1277) HTML (770) PDF(76)
Abstract:
The machinery fault signal is a typical non-Gaussian and non-stationary process. The fault signal can be described by SαS distribution model because of the presence of impulses. Time-frequency distribution is a useful tool to extract helpful information of the machinery fault signal. Various fractio...
Functional-type Single-input-rule-modules Connected Neural Fuzzy System for Wind Speed Prediction
Chengdong Li, Li Wang, Guiqing Zhang, Huidong Wang, Fang Shang
2017, 4(4): 751-762. doi: 10.1109/JAS.2017.7510640
Abstract(792) HTML (387) PDF(81)
Abstract:
Wind is one kind of clean and free renewable energy sources. Wind speed plays a pivotal role in the wind power output. However, due to the random and unstable nature of the wind, accurate prediction of wind speed is a particularly challenging task. This paper presents a novel neural fuzzy method for...
Linearized Proximal Alternating Direction Method of Multipliers for Parallel Magnetic Resonance Imaging
Benxin Zhang, Zhibin Zhu
2017, 4(4): 763-769. doi: 10.1109/JAS.2016.7510226
Abstract(871) HTML (397) PDF(100)
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In this study, we propose a linearized proximal alternating direction method with variable stepsize for solving total variation image reconstruction problems. Our method uses a linearized technique and the proximal function such that the closed form solutions of the subproblem can be easily derived....
Ladle Furnace Temperature Prediction Model Based on Large-scale Data With Random Forest
Xiaojun Wang
2017, 4(4): 770-774. doi: 10.1109/JAS.2016.7510247
Abstract(905) HTML (384) PDF(147)
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In ladle furnace, the prediction of the liquid steel temperature is always a hot topic for the researchers. The most of the existing temperature prediction models use small sample set. Today, the precision of them can not satisfy practical production. Fortunately, the large sample set is accumulated...
High-speed Nonsingular Terminal Switched Sliding Mode Control of Robot Manipulators
Fengning Zhang
2017, 4(4): 775-781. doi: 10.1109/JAS.2016.7510157
Abstract(828) HTML (372) PDF(164)
Abstract:
This paper proposes a high-speed nonsingular terminal switched sliding mode control (HNT-SSMC) strategy for robot manipulators. The proposed approach enhances the control system performance by switching among appropriate sliding mode controllers according to different control demands in different re...
Modeling and Tracking Control for Piezoelectric Actuator Based on a New Asymmetric Hysteresis Model
Geng Wang, Guoqiang Chen, Hong Zhou, Fuzhong Bai
2017, 4(4): 782-791. doi: 10.1109/JAS.2016.7510136
Abstract(856) HTML (392) PDF(64)
Abstract:
This paper presents a new asymmetric hysteresis model and its application in the tracking control of piezoelectric actuators. The proposed model is based on a coupled-play operator which can avoid the conventional Prandtl-Ishlinskii (CPI) model's defects, i.e., the symmetric property. The high accur...
Intrusion Detection System for PS-Poll DoS Attack in 802.11 Networks Using Real Time Discrete Event System
Mayank Agarwal, Sanketh Purwar, Santosh Biswas, Sukumar Nandi
2017, 4(4): 792-808. doi: 10.1109/JAS.2016.7510178
Abstract(1667) HTML (377) PDF(158)
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Wi-Fi devices have limited battery life because of which conserving battery life is imperative. The 802.11 Wi-Fi standard provides power management feature that allows stations (STAs) to enter into sleep state to preserve energy without any frame losses. After the STA wakes up, it sends a null data ...
Finite-time Sliding Mode Control Design for a Class of Uncertain Conic Nonlinear Systems
Shuping He, Jun Song
2017, 4(4): 809-816. doi: 10.1109/JAS.2017.7510643
Abstract(829) HTML (397) PDF(189)
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This paper studies the sliding mode controller design problems for a class of nonlinear system. The nonlinear function is considered to satisfy conic-type constraint condition. A novel finite-time boundedness (FTB) based sliding mode controller design theory is proposed. And then a sufficient condit...
Structural Properties, LQG Control and Scheduling of a Networked Control System with Bandwidth Limitations and Transmission Delays
Share Pasand Mohammad Mahdi, Montazeri Mohsen
2017, 4(4): 817-829.
Abstract(734) HTML (352) PDF(20)
Abstract:
The problem of simultaneous LQG control and scheduling of a Networked Control System (NCS) with constant network induced delays at input and output and bandwidth limitations is investigated. Delays are considered at plant as well as controller side. Sufficient conditions for controllability, stabili...