Weidong Chen

Shanghai Jiao Tong University, Shanghai, Shanghai Shi, China

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Publications (71)43.14 Total impact

  • Xinwu Liang · Hesheng Wang · Yun-Hui Liu · Weidong Chen · Jie Zhao
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    ABSTRACT: A unified design method is proposed in this paper to handle adaptive visual tracking control problem of robots. In the proposed scheme, the robot dynamic parameters, camera intrinsic and extrinsic parameters and position parameters of feature points are assumed to be uncertain. A unified kinematics model is presented to simultaneously cope with kinematics modeling problem of robots with the eye-in-hand or fixed camera configuration. Based on the unified kinematics, a unified design method is proposed to solve the visual tracking control problem of robots with the eye-in-hand or fixed camera configuration. By using the depth-independent interaction matrix framework, adaptive laws are derived to handle the unknown parameters. Lyapunov stability analysis is provided to show asymptotical convergence of image position and velocity tracking errors. To show the effectiveness of the proposed unified design method, experimental results for both camera configurations are also given.
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    ABSTRACT: In this paper, the task-space cooperative tracking control problem of networked robotic manipulators without task-space velocity measurements is addressed. To overcome the problem without task-space velocity measurements, a novel task-space position observer is designed to update the estimated task-space position and to simultaneously provide the estimated task-space velocity, based on which an adaptive cooperative tracking controller without task-space velocity measurements is presented by introducing new estimated task-space reference velocity and acceleration. Furthermore, adaptive laws are provided to cope with uncertain kinematics and dynamics and rigorous stability analysis is given to show asymptotical convergence of the task-space tracking and synchronization errors in the presence of communication delays under strongly connected directed graphs. Simulation results are given to demonstrate the performance of the proposed approach.
    09/2015; DOI:10.1109/TCYB.2015.2477606
  • Jingchuan Wang · Ming Yang · Weidong Chen
  • Hesheng Wang · Weidong Chen · Yinping Lai · Tao He
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    ABSTRACT: Tokamak flexible in-vessel inspection robot is mainly designed to carry a camera for close observation of the first wall of the vacuum vessel, which is essential for the maintenance of the future tokamak reactor without breaking the working condition of the vacuum vessel. A tokamak flexible in-vessel inspection robot is designed. In order to improve efficiency of the remote maintenance, it is necessary to design a corresponding trajectory planning algorithm to complete the automatic full coverage scanning of the complex tokamak cavity. Two different trajectory planning methods, RS (rough scanning) and FS (fine scanning), according to different demands of the task, are used to ensure the full coverage of the first wall scanning. To quickly locate the damage position, the first trajectory planning method is targeted for quick and wide-ranging scan of the tokamak D-shaped section, and the second one is for careful observation. Furthermore, both of the two different trajectory planning methods can ensure the full coverage of the first wall scanning with an optimal end posture. The method is tested on a simulated platform of EAST (Experimental Advanced Superconducting Tokamak) with the flexible in-vessel inspection robot, and the results show the effectiveness of the proposed algorithm.
    Fusion Engineering and Design 06/2015; DOI:10.1016/j.fusengdes.2015.05.028 · 1.15 Impact Factor
  • Xinwu Liang · Hesheng Wang · Weidong Chen · Dejun Guo · Tao Liu
    IEEE Transactions on Control Systems Technology 01/2015; DOI:10.1109/TCST.2015.2411627 · 2.47 Impact Factor
  • Source
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    ABSTRACT: Our research is focused on the development of an at-home health care biomonitoring mobile robot for the people in demand. Main task of the robot is to detect and track a designated subject while recognizing his/her activity for analysis and to provide warning in an emergency. In order to push forward the system towards its real application, in this study, we tested the robustness of the robot system with several major environment changes, control parameter changes, and subject variation. First, an improved color tracker was analyzed to find out the limitations and constraints of the robot visual tracking considering the suitable illumination values and tracking distance intervals. Then, regarding subject safety and continuous robot based subject tracking, various control parameters were tested on different layouts in a room. Finally, the main objective of the system is to find out walking activities for different patterns for further analysis. Therefore, we proposed a fast, simple, and person specific new activity recognition model by making full use of localization information, which is robust to partial occlusion. The proposed activity recognition algorithm was tested on different walking patterns with different subjects, and the results showed high recognition accuracy.
    12/2014; 2014:280207. DOI:10.1155/2014/280207
  • Yong Wang · Weidong Chen · Jingchuan Wang
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    ABSTRACT: Purpose ‐ The purpose of this paper is to propose a localizability-based particle filtering localization algorithm for mobile robots to maintain localization accuracy in the high-occluded and dynamic environments with moving people. Design/methodology/approach ‐ First, the localizability of mobile robots is defined to evaluate the influences of both the dynamic obstacles and prior-map on localization. Second, based on the classical two-sensor track fusion algorithm, the odometer-based proposal distribution function (PDF) is corrected, taking account of the localizability. Then, the corrected PDF is introduced into the classical PF with "roulette" re-sampling. Finally, the robot pose is estimated according to all the particles. Findings ‐ The experimental results show that, first, it is necessary to consider the influence of the prior-map during the localization in the high-occluded and dynamic environments. Second, the proposed algorithm can maintain an accurate and robust robot pose in the high-occluded and dynamic environments. Third, its real timing is acceptable. Research limitations/implications ‐ When the odometer error and occlusion caused by the dynamic obstacles are both serious, the proposed algorithm also has a probability evolving into the kidnap problem. But fortunately, such serious situations are not common in practice. Practical implications ‐ To check the ability of real application, we have implemented the proposed algorithm in the campus cafeteria and metro station using an intelligent wheelchair. To better help the elderly and disabled people during their daily lives, the proposed algorithm will be tested in a social welfare home in the future. Original/value ‐ The localizability of mobile robots is defined to evaluate the influences of both the dynamic obstacles and prior-map on localization. Based on the localizability, the odometer-based PDF is corrected properly.
    Industrial Robot 05/2014; 41(3). DOI:10.1108/IR-06-2013-371 · 0.64 Impact Factor
  • Xinwu Liang · Hesheng Wang · Weidong Chen · Yun‐Hui Liu
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    ABSTRACT: In this paper, the uncalibrated fixed-camera visual servoing problem of robot manipulators will be addressed by considering its full motor dynamics. A new adaptive image-space visual servoing strategy without both the joint and visual acceleration measurements is presented, which can handle uncertainties in the camera intrinsic and extrinsic parameters, the robot kinematic and dynamic parameters, and the motor dynamic parameters. The proposed scheme is developed based on the depth-independent interaction matrix in order to deal with the nonlinear dependence of image Jacobian matrix on the unknown parameters, which allows the camera and robot kinematic parameters in the closed-loop dynamics to be linearly parameterized. In this way, adaptive laws for the online estimation of the unknown camera, kinematic, rigid dynamic, and motor dynamic parameters can be developed very efficiently. Furthermore, a joint velocity observer will also be presented to solve the problem without both the joint and visual acceleration measurements. To show asymptotic convergence of image errors, stability analysis based on both the rigid-link robot dynamics and full motor dynamics will be performed by using Lyapunov theory. Simulation results will be given to validate the performance of the proposed scheme.
    Asian Journal of Control 05/2014; 16(3). DOI:10.1002/asjc.796 · 1.56 Impact Factor
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    YingDong Ma · Jun-Guo Lu · WeiDong Chen · YangQuan Chen
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    ABSTRACT: This paper considers the robust stability bound problem of uncertain fractional-order systems. The system considered is subject either to a two-norm bounded uncertainty or to a infinity-norm bounded uncertainty. The robust stability bounds on the uncertainties are derived. The fact that these bounds are not exceeded guarantees that the asymptotical stability of the uncertain fractional-order systems is preserved when the nominal fractional-order systems are already asymptotically stable. Simulation examples are given to demonstrate the effectiveness of the proposed theoretical results.
    Fractional Calculus and Applied Analysis 03/2014; 17(1). DOI:10.2478/s13540-014-0159-3 · 2.25 Impact Factor
  • Jingchuan Wang · Weidong Chen
    Journal of Applied Mathematics 01/2014; 2014:1-10. DOI:10.1155/2014/948505 · 0.72 Impact Factor
  • Yingdong Ma · Junguo Lu · Weidong Chen
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    ABSTRACT: This paper investigates the robust stability and stabilization of fractional order linear systems with positive real uncertainty. Firstly, sufficient conditions for the asymptotical stability of such uncertain fractional order systems are presented. Secondly, the existence conditions and design methods of the state feedback controller, static output feedback controller and observer-based controller for asymptotically stabilizing such uncertain fractional order systems are derived. The results are obtained in terms of linear matrix inequalities. Finally, some numerical examples are given to validate the proposed theoretical results.
    ISA Transactions 12/2013; 53(2). DOI:10.1016/j.isatra.2013.11.013 · 2.98 Impact Factor
  • Jian Yang · Hesheng Wang · Weidong Chen · Kang Li
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    ABSTRACT: This paper proposes a time and jerk optimal trajectory planning method to find an efficient and sufficiently smooth trajectory. The objective function of the proposed method consists of two parts: the execution time and the smoothness of the trajectory in the joint space. The latter part enables one to get a smoother trajectory and reduce the tracking error. Moreover, the kinematic constraints of the robot are also taken into consideration by setting boundary on the absolute value of kinematical constraints. A newly devised cubic spline is presented to ensure the starting and ending values of the velocity and acceleration controllable without requiring extra points. The method is tested on an EAST Tokamak inspection robot.
    2013 IEEE International Conference on Robotics and Biomimetics (ROBIO); 12/2013
  • Junguo Lu · Yingdong Ma · Weidong Chen
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    ABSTRACT: This paper investigates the maximal perturbation bound problem for robust stabilizability of the fractional-order system with two-norm bounded perturbations or infinity-norm bounded perturbations. Firstly, a necessary condition and several sufficient conditions for robust stabilization are derived. Secondly, linear matrix inequality approaches for computing the maximal robust stabilizability perturbation bound of such perturbed fractional-order system with a linear state feedback controller, simultaneously obtaining the corresponding linear state feedback stabilizing controller are presented. With the help of the linear matrix inequality solvers, we can easily obtain the maximal robust stabilizability perturbation bound and the corresponding linear state feedback stabilizing controller. Finally, simulation examples are given to demonstrate the effectiveness of the proposed approaches.
    Journal of the Franklin Institute 12/2013; 350(10). DOI:10.1016/j.jfranklin.2013.07.014 · 2.40 Impact Factor
  • Han Zhang · Weidong Chen · Jingchuan Wang · Kang Li
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    ABSTRACT: Human interest input could greatly enhance the efficiency of the multi-robot exploration. However, most of the previous work did not take the intention of the operator into account. In this paper, a human interest oriented multi-robot exploration system is designed. The system is composed of a mobile base station and several robot explorers. A human interest oriented task allocation method is developed to enable these robot explorers to coordinate based on the operator's intention. Furthermore, an optimization index is proposed to balance the obedience, connectivity and explorability of the system; and the optimization problem is solved to generate the movements of the mobile base station and the robot explorers. Simulations and real-world experiments have demonstrate the effectiveness of the system and the efficiency of the exploration process.
    2013 IEEE International Conference on Robotics and Biomimetics (ROBIO); 12/2013
  • Tao Deng · Hesheng Wang · Weidong Chen · Xiaozhou Wang · Rolf Pfeifer
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    ABSTRACT: A new cable-driven soft endoscopic system is designed for cardiac ablation in a minimally invasive manner in this paper. The system is totally made of soft materials and has no rigid structures inside. In order to perform operation in the limited pericardium, a modified behavior-based control method inspired from animals is applied in this system. Experiments are performed to demonstrate the concept of prototype and manipulation approaches are feasible. As showed in these experimental results, the cable-driven soft endoscopic system has a strong potential in cardiac surgery.
    2013 IEEE International Conference on Robotics and Biomimetics (ROBIO); 12/2013
  • Source
    Jun-Guo Lu · Yangquan Chen · Weidong Chen
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    ABSTRACT: This paper considers the robust asymptotical stability problem of fractional-order linear systems with structured perturbations, which are more general than the investigated fractional-order interval systems. Based on the Kronecker product and @m-analysis, necessary and sufficient conditions for the robust asymptotical stability are established by transforming such a problem into checking the nonsingularity of a class of uncertain matrices. Furthermore, the robustness bounds with respect to parametric perturbations to preserve the asymptotical stability are given in terms of the structured singular values. Finally, illustrative examples are given to show the effectiveness of the proposed approach.
    Computers & Mathematics with Applications 09/2013; 66(5):873-882. DOI:10.1016/j.camwa.2013.03.001 · 1.70 Impact Factor
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    ABSTRACT: Our previous studies demonstrated that the idea of bio-monitoring home healthcare mobile robots is feasible. Therefore, by developing algorithms for mobile robot based tracking, measuring, and activity recognition of human subjects, we would be able to help impaired people (MIPs) to spend more time focusing in their motor function rehabilitation process from their homes. In this study we aimed at improving two important modules in these kinds of systems: the control of the robot and visual tracking of the human subject. For this purpose: 1) tracking strategies for different types of home environments were tested in a simulator to investigate the effect on robot behavior; 2) a multi-channel saliency fusion model with high perceptual quality was proposed and integrated into RGB-D based visual tracking. Regarding the control strategies, results showed that, depending on different types of room environment, different tracking strategies should be employed. For the visual tracking, the proposed saliency fusion model yielded good results by improving the saliency output. Also, the integration of this saliency model resulted in better performance of RGB-D based visual tracking application.
    Evaluating AAL Systems Through Competitive Benchmarking, 09/2013: pages 1-12; Communications in Computer and Information Science, Springer., ISBN: 978-3-642-41043-7
  • Journal of Medical Imaging and Health Informatics 03/2013; 3(1):48-50. DOI:10.1166/jmihi.2013.1129 · 0.50 Impact Factor
  • Zhixuan Wei · Weidong Chen · Jingchuan Wang
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    ABSTRACT: The previous perception and control system of smart wheelchair barely implement object related navigation such as furniture docking or door passage with interference from the obstacle avoidance behavior. In this article, a local 3D semantic map is built online using a low-cost RGB-D camera, which can provide category, geometry and functionality information of the recognized objects to the shared control module. The control system can choose different behaviors according to user intention to implement object related navigation. The steps include user intention estimation, target selection, motion control, as well as share control parameters adjustment. A flexible and scalable semantic reasoning based on forward chaining is used for object recognition, which utilizes the relationship of different objects to improve the accuracy of recognition. The proposed method is implemented on a smart wheelchair prototype equipped with a low-cost Kinect, which provides 3D point cloud for semantic mapping and fake laser for obstacle avoidance. And this method is tested in real environment, and the experiments illustrate that the semantic mapping for smart wheelchairs can effectively improve the collaboration between the user and the smart wheelchair and enhance the smart wheelchair's mobility.
    Journal of Medical Imaging and Health Informatics 03/2013; 3(1):94-100. DOI:10.1166/jmihi.2013.1143 · 0.50 Impact Factor
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    ABSTRACT: Aim at enhancing dexterous and safe operation in unstructured environment, a cable-driven soft robotic manipulator is designed in this paper. Due to soft material it made of and nearly infinite degree of freedom it owns, the soft robotic manipulator has higher security and dexterity than traditional rigid-link manipulator, which make it suitable to perform tasks in complex environments that is narrow, confined and unstructured. Though the soft robotic manipulator possesses advantages above, it is not an easy thing for it to achieve precise position control. In order to solve this problem, a kinematic model based on piecewise constant curvature hypothesis is proposed. Through building up three spaces and two mappings, the relationship between the length variables of 4 cables and the position and orientation of the soft robotic manipulator end-effector is obtained. Afterwards, a depth-independent image Jacobian matrix is introduced and an image-based visual servo controller is presented. Applied by adaptive algorithm, the controller could estimate unknown position of the feature point online, and then Lyapunov theory is used to prove the stability of the proposed controller. At last, experiments are conducted to demonstrate rationality and validity of the kinematic model and adaptive visual servo controller.
    Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on; 01/2013

Publication Stats

216 Citations
43.14 Total Impact Points


  • 2004–2015
    • Shanghai Jiao Tong University
      • • Department of Automation
      • • School of Electronic, Information and Electrical Engineering
      Shanghai, Shanghai Shi, China
  • 2007–2009
    • Shanghai University
      • Department of Automation
      Shanghai, Shanghai Shi, China
  • 2004–2008
    • The Ohio State University
      • Department of Electrical and Computer Engineering
      Columbus, OH, United States