Suolin Duan

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For the feature extraction of motor imaginary EEG (electroencephalography) in the study of brain-computer interface(BCI), a method of extracting EEG features based on wavelet package combined with ICA (Independent component analysis) was adopted to extract the signals produced by imaginary movement, event related desynchronization or event related(More)
In this paper, a mobile robot obstacle avoidance system based on information fusion of infrared sensor and binocular vision sensors is proposed. The complete distance information between the robot and obstacles, which is obtained from the infrared sensors and the binocular sensor can real-time help the robot perceiving its location relative to all kinds of(More)
A robust control method based on equivalent control of Variable Structure Control (VSC) with feedforward compensator for robotic manipulators subject to load uncertainties is presented. The feedforward compensator is used to improve tracking precision, and the feed-sequence compensator with the Proportional Integral (PI) regulator to the sliding-mode(More)
Safety is one of the crucial issues for robot-aided neurorehabilitation exercise. When it comes to the passive rehabilitation training for stroke patients, the existing control strategies are usually just based on position control to carry out the training, and the patient is out of the controller. However, to some extent, the patient should be taken as a(More)
In this paper, a fuzzy planner is designed, which is combined with motion controllers to control three-wheel mobile robot with infrared sensors to avoid obstacles in unknown environment. The fuzzy planner processes data from infrared sensors to get the navigation angle in which the robot should be necessarily driven to avoid obstacles. The navigation angle(More)
In this paper, by using the concept of hybrid time for Hybrid dynamical systems(HDS), we consider the problem of input-to-state stability(ISS) for a class of nonlinear HDS with interval time-varying delay and external inputs. Some sufficient conditions are presented aiming to derive the ISS and exponential ISS properties of the whole hybrid systems for the(More)
This paper introduces appropriate concepts of input-to state stability (ISS) for nonlinear impulsive hybrid systems(NIHS). First we study the case in which one kind of dynamics system without external inputs has a stability property, then by applying the ISS-Lyapunov function theory, several sufficient conditions are derived for the ISS property of the(More)
A moment Invariant-Based multi-target recognition and grasping method aimed to the visual servoing control for robot manipulator is presented. The recognizing for the assigned target objective among the multi-targets is realized by using the image region segment technique, features set composed of 7 moment invariants and Euclidean distance measurement. The(More)