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Structured decentralized control of positive systems with applications to combination drug therapy and leader selection in directed networks

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arXiv 2017年

作者： Dhingra, Neil K. Colombino, Marcello Jovanović, Mihailo R. Department of Electrical and Computer Engineering University of Minnesota Automatic Control Laboratory Eth Zürich Ming Hsieh Department of Electrical Engineering University of Southern California

We study a class of structured optimal control problems in which the main diagonal of the dynamic matrix is a linear function of the design variable. While such problems are in general challenging and nonconvex, for positive systems we prove convexity of the H2and H∞ optimal control formulations which allow for arbitrary convex constraints and regularization of the control input. Moreover, we establish differentiability of the H∞ norm when the graph associated with the dynamical generator is weakly connected and develop a customized algorithm for computing the optimal solution even in the absence of differentiability. We apply our results to the problems of leader selection in directed consensus networks and combination drug therapy for HIV treatment. In the context of leader selection, we address the combinatorial challenge by deriving upper and lower bounds on optimal performance. For combination drug therapy, we develop a customized subgradient method for efficient treatment of diseases whose mutation patterns are not connected. Copyright © 2017, The Authors. All rights reserved.

关键词： Disease control

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

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arXiv 2018年

作者： Petković, Tomislav Puljiz, David Marković, Ivan Hein, Björn University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering Laboratory for Autonomous Systems and Mobile Robotics Unska 3 ZagrebHR-10000 Croatia Karlsruhe Institute of Technology Institute for Anthropomatics and Robotics Intelligent Process Automation and Robotics Lab Kaiserstraße 12 Deutschland KarlsruheDE-76131

With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results. Copyright © 2018, The Authors. All rights reserved.

关键词： Virtual reality

Machine discovery of partial differential equations from spatiotemporal data

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arXiv 2019年

作者： Yuan, Ye Li, Junlin Li, Liang Jiang, Frank Tang, Xiuchuan Zhang, Fumin Liu, Sheng Goncalves, Jorge Voss, Henning U. Li, Xiuting Kurths, Jürgen Ding, Han School of Artificial Intelligence and Automation State Key Laboratory of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology Wuhan430074 China School of Artificial Intelligence and Automation Key Laboratory of Image Processing and Intelligent Control Huazhong University of Science and Technology Wuhan430074 China School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm11428 Sweden School of Mechanical Science and Engineering Huazhong University of Science and Technology Wuhan430074 China School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta30332 United States School of Power and Mechanical Engineering Wuhan University Wuhan430074 China Department of Engineering University of Cambridge CambridgeCB2 1PZ United Kingdom Luxembourg Centre for Systems Biomedicine University of Luxembourg BelvauxL-4367 Luxembourg Citigroup Biomedical Imaging Center Weill Cornell Medical College New York10021 United States Research Domain IV - Transdisciplinary Concepts & Methods Potsdam Institute for Climate Impact Research Potsdam14473 Germany School of Mechanical Science and Engineering State Key Laboratory of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology Wuhan430074 China

The study presents a general framework for discovering underlying Partial Differential Equations (PDEs) using measured spatiotemporal data. The method, called Sparse Spatiotemporal System Discovery (S3d), decides which physical terms are necessary and which can be removed (because they are physically negligible in the sense that they do not affect the dynamics too much) from a pool of candidate functions. The method is built on the recent development of Sparse Bayesian Learning;which enforces the sparsity in the to-be-identified PDEs, and therefore can balance the model complexity and fitting error with theoretical guarantees. Without leveraging prior knowledge or assumptions in the discovery process, we use an automated approach to discover ten types of PDEs, including the famous Navier-Stokes and sine-Gordon equations, from simulation data alone. Moreover, we demonstrate our data-driven discovery process with the Complex Ginzburg-Landau Equation (CGLE) using data measured from a traveling-wave convection experiment. Our machine discovery approach presents solutions that has the potential to inspire, support and assist physicists for the establishment of physical laws from measured spatiotemporal data, especially in notorious fields that are often too complex to allow a straightforward establishment of physical law, such as biophysics, fluid dynamics, neuroscience or nonlinear optics. Copyright © 2019, The Authors. All rights reserved.

关键词： Nonlinear optics

Topological-darkness-assisted phase regulation for atomically thin meta-optics

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arXiv 2019年

作者： Wang, Yingwei Deng, Zi-Lan Hu, Dejiao Yuan, Jian Ou, Qingdong Qin, Fei Zhang, Yinan Ouyang, Xu Peng, Bo Cao, Yaoyu Guan, Bai-Ou Zhang, Yupeng He, Jun Qiu, Chengwei Bao, Qiaoliang Li, Xiangping Guangdong Provincial Key Laboratory of Optical Fiber Sensing and Communications Institute of Photonics Technology Jinan University Guangzhou510632 China Hunan Key Laboratory for Super-microstructure and Ultrafast Process School of Physics and Electronics Central South University 932 South Lushan Road Changsha Hunan410083 China College of Physics and Electronic Information Huaibei Normal University Huaibei235000 China Key Laboratory of Optoelectronic Devices and Systems of Ministry of Education and Guangdong Province College of Electronic Science and Technology Shenzhen University Shenzhen518060 China Monash University ClaytonVIC3800 Australia National Engineering Research Center of Electromagnetic Radiation Control Materials State Key Laboratory of Electronic Thin Films and Integrated Devices School of Microelectronics and Solid State Electronics University of Electronic Science and Technology of China Chengdu610054 China Department of Electrical and Computer Engineering National University of Singapore 4 Engineering Drive 3 117583 Singapore

Two-dimensional (2D) noble-metal dichalcogenides 1, 2 have emerged as a new platform for the realization of versatile flat optics with a considerable degree of miniaturization. However, light field manipulation at the atomic scale is widely considered unattainable since the vanishing thickness and intrinsic losses of 2D materials completely suppress both resonances and phase accumulation effects. Empowered by conventionally perceived adverse effects of intrinsic losses, we show that the structured PtSe2 films integrated with a uniform substrate can regulate nontrivial singular phase and realize atomic-thick meta-optics in the presence of topological darkness 3, 4. We experimentally demonstrate a series of atomic-thick binary meta-optics that allows angle-robust and high unit-thickness diffraction efficiency of 0.96%/nm in visible frequencies, given its thickness of merely 4.3 nm. Our results unlock the potential of a new class of 2D flat optics for light field manipulation at an atomic thickness. Copyright © 2019, The Authors. All rights reserved.

关键词： Platinum compounds

Modeling and analysis of secondary controlled virtual synchronous generator with dynamic droop for microgrid

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Modeling and analysis of secondary controlled virtual synchr...

2017 IEEE Conference on Energy Internet and Energy System Integration, EI2 2017

作者： Yan, Weihang Gao, David Wenzhong Zhang, Fang Cheng, Lin Yan, Shijie Department of Electrical and Computer Engineering University of Denver Denver United States State Key Laboratory of Control and Simulation of Power Systems and Generation Equipment Tsinghua University Beijing China College of Information Science and Technology Northeastern University Shenyang China

ISBN: (纸本)9781538614273

In this paper, a dynamic droop mechanism is proposed to damp the synchronizing oscillation that exists in a virtual synchronous generator based distributed generator system without varying the steady-state active-power-loop droop coefficient. In order to eliminate the steady-state error introduced due to load changes or generator trips, a distributed secondary controller based on extremum seeking is employed so that microgrid frequency can be restored to nominal value. Besides, the small-signal model of virtual synchronous generator system is presented under d-q reference frame where virtual synchronous generator is deployed as a PV node. Moreover, the linearized system model of virtual synchronous generator with dynamic droop mechanism is derived and its advantage is discussed. Finally, a modified IEEE 14 bus microgrid system is established in Matlab/Simulink platform. Simulation results demonstrate the validity and feasibility of the proposed method. © 2017 IEEE.

关键词： Dynamics

Real-time force control of an SEA-based body weight support unit with the 2-DOF control structure

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arXiv 2018年

作者： Sun, Yubo Lei, Yuqi Zou, Wulin Li, Jianmin Yu, Ningbo Institute of Robotics and Automatic Information Systems Nankai University Haihe Education Park Tianjin300353 China Tianjin Key Laboratory of Intelligent Robotics Nankai University Haihe Education Park Tianjin300353 China Department of Electrical and Computer Engineering Carnegie Mellon University 5000 Forbes Ave PittsburghPA15213 United States School of Mechanical Engineering Tianjin University Tianjin300072 China

Body weight support (BWS) is a fundamental technique in rehabilitation. Along with the dramatic progressing of rehabilitation science and engineering, BWS is quickly evolving with new initiatives and has attracted deep research effort in recent years. We have built up a novel gravity offloading system, in which the patient is allowed to move freely in the three-dimensional Cartesian space and receives support against gravity. Thus, the patients, especially for those that suffer from neurological injury such as stroke or spinal cord injury, can focus their residual motor control capabilities on essential therapeutic trainings of balance and gait. The realtime force control performance is critical for the BWS unit to provide suitable support and avoid disturbance. In this work, we have re-designed our BWS unit with a series elastic actuation structure to improve the human-robot interaction performance. Further, the 2 degrees of freedom (2-DOF) control approach was taken for accurate and robust BWS force control. Both simulation and experimental results have validated the efficacy of the BWS design and real-time control methods. Copyright © 2018, The Authors. All rights reserved.

关键词： Force control

Distributed Least Squares Solver for Network Linear Equations

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arXiv 2018年

作者： Yang, Tao George, Jemin Qin, Jiahu Yi, Xinlei Wu, Junfeng State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China U.S. Army Research Laboratory AdelphiMD20783 United States Department of Automation University of Science and Technology of China Hefei230027 China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden College of Control Science and Engineering Zhejiang University Hangzhou310027 China

In this paper, we study the problem of finding the least square solutions of over-determined linear algebraic equations over networks in a distributed manner. Each node has access to one of the linear equations and holds a dynamic state. We first propose a distributed least square solver over connected undirected interaction graphs and establish a necessary and sufficient on the step-size under which the algorithm exponentially converges to the least square solution. Next, we develop a distributed least square solver over strongly connected directed graphs and show that the proposed algorithm exponentially converges to the least square solution provided the step-size is sufficiently small. Moreover, we develop a finite-time least square solver by equipping the proposed algorithms with a finite-time decentralized computation mechanism. The theoretical findings are validated and illustrated by numerical simulation examples. Copyright © 2018, The Authors. All rights reserved.

关键词： Linear equations

Multi-view hybrid embedding: A divide-and-conquer approach

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arXiv 2018年

作者： Xu, Jiamiao Yu, Shujian You, Xinge Leng, Mengjun Jing, Xiao-Yuan Chen, C. L. Philip School of Electronic Information and Communications Huazhong University of Science and Technology Wuhan430074 China Department of Electrical and Computer Engineering University of Florida GainesvilleFL32611 United States Department of Computer Science University of Houston HoustonTX77204 United States State Key Laboratory of Software Engineering School of Computer Wuhan University China Department of Computer and Information Science Faculty of Science and Technology University of Macau Macau99999 China Dalian Maritime University Dalian116026 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100080 China

We present a novel cross-view classification algorithm where the gallery and probe data come from different views. A popular approach to tackle this problem is the multiview subspace learning (MvSL) that aims to learn a latent subspace shared by multi-view data. Despite promising results obtained on some applications, the performance of existing methods deteriorates dramatically when the multi-view data is sampled from nonlinear manifolds or suffers from heavy outliers. To circumvent this drawback, motivated by the Divideand-Conquer strategy, we propose Multi-view Hybrid Embedding (MvHE), a unique method of dividing the problem of cross-view classification into three subproblems and building one model for each subproblem. Specifically, the first model is designed to remove view discrepancy, whereas the second and third models attempt to discover the intrinsic nonlinear structure and to increase discriminability in intra-view and interview samples respectively. The kernel extension is conducted to further boost the representation power of MvHE. Extensive experiments are conducted on four benchmark datasets. Our methods demonstrate overwhelming advantages against the stateof-the-art MvSL based cross-view classification approaches in terms of classification accuracy and robustness. Copyright © 2018, The Authors. All rights reserved.

关键词： Embeddings

Global control for a class of inherently nonlinear systems with uncertain measurements

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IFAC-PapersOnLine 2017年第1期50卷 11571-11576页

作者： Zha W. Qian C. Zhai J. Fei S. School of Mechanical Electronic & Information Engineering China University of Mining & Technology (Beijing) Beijing 100083 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing China 210096 China Department of Electrical and Computer Engineering The University of Texas at San Antonio San Antonio TX 78249 United States

This paper considers the problem of global stabilization for a class of high-order nonlinear systems whose states cannot be measured accurately and the uncertain parameters occur in the powers of the measurement functions. Based on the notion of homogeneity with monotone degrees (HWMD), the conditions on the uncertain measurement powers that are related to the system powers will be given so that the homogeneous weights and degrees can be determined to guarantee the solvability of this problem. By adopting the adding a power integrator technique, a measurement feedback controller is proposed to globally stabilize the nonlinear system under different sensors with certain conditions. © 2017

关键词： Adding a power integrator homogeneity with monotone degrees inherently nonlinear systems robust control uncertain measurements