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第37届中国控制会议

作者： Haibo Gu Peng Liu Xiong Wang Jinhu L LSC Academy of Mathematics and Systems Science Chinese Academy of Sciences School of Mathematical Sciences University of Chinese Academy of Sciences Department of Automation University of Science and Technology of China School of Automation Science and Electrical Engineering State Key Laboratory of Software Development Environment and Beijing Advanced Innovation Center for Big Data and Brain Machine Intelligence Beihang University

Synchronization of directed complex networks has been extensively studied in the previous two decades due to its potential applications in the real world practices. To reveal and analyze the inherent mechanism of global synchronization in the complex networks with directed topologies, this paper attempts to developing a novel synchronization approach by using algebraic connectivity and PI control protocols. First, we studied the distributed PI control for synchronization in directed strongly connected networks and obtained some sufficient conditions to guarantee the networks reach global ***, a numerical example is given to verify the effectiveness of the proposed theoretical results.

关键词： Synchronization distributed PI control strongly connected network network control systems

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Search-based optimal motion planning for automated driving

arXiv

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arXiv 2018年

作者： Ajanovic, Zlatan Lacevic, Bakir Shyrokau, Barys Stolz, Michael Horn, Martin Virtual Vehicle Research Center Inffeldgasse 21a Graz8010 Austria Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia Herzegovina7100 Bosnia and Herzegovina Department of Cognitive Robotics Delft University of Technology Mekelweg 2 Delft2628 Netherlands Institute of Automation and Control at Graz University of Technology Inffeldgasse 21b Graz8010 Austria

This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in urban conditions. This is achieved through several features. Firstly, a convenient geometrical representation of both the search space and driving constraints enables the use of classical path planning approach. Thus, a wide variety of constraints can be tackled simultaneously (other vehicles, traffic lights, etc.). Secondly, an exact cost-to-go map, obtained by solving a relaxed problem, is then used by A∗-based algorithm with model predictive flavour in order to compute the optimal motion trajectory. The algorithm takes into account both distance and time horizons. The approach is validated within a simulation study with realistic traffic scenarios. We demonstrate the capability of the algorithm to devise plans both in fast and slow driving conditions, even when full stop is required. Copyright © 2018, The Authors. All rights reserved.

关键词： Motion planning

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Robust ADRC for Nonlinear Time-varying System with Uncertainties 6

Robust ADRC for Nonlinear Time-varying System with Uncertain...

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2017 IEEE 6th Data Driven Control and Learning Systems Conference (DDCLS’17)

作者： Xiangyang Li Wei Ai Zhiqiang Gao Senping Tian Key Laboratory of Autonomous Systems and Networked Control Ministry of Education School of Automation Science and Engineering South China University of Technology IEEE Center for Advanced Control Technologies Department of Electrical and Computer EngineeringCleveland State University

ISBN: (纸本)9781509054626

Active disturbance rejection control(ADRC) exemplifies the spirit of the data-driven control(DDC) design strategy and shows much promise in obtaining consistent applications in industrial control systems with uncertainties, without the premise that the detailed mathematical model of the controlled system is given. Instead, it is shown that the information needed for the control system to work at high level of effectiveness can be extracted from the input-output data by the use of the extended state observer(ESO). On the other hand, it is shown in this paper that the robustness of ADRC depends on the effectiveness of ESO. Furthermore, taking advantage of the rich body of knowledge in the existing field of robust control, the estimation error in ESO is analysed and, for the purpose of improved robustness, a unique nonlinear component is added to the conventional ADRC law. The modified ADRC which is a kind of robust ADRC law is validated in simulation for a nonlinear time-varying system with parametric and functional uncertainties. It is shown that the proposed robust ADRC law provides more effective tracking performance than the conventional ADRC when the bandwidth of ESO is not wide enough.

关键词： Active Disturbance Rejection Control(ADRC) Robust Control Extended State Observer(ESO) Nonlinear Time-varying System

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Wearable Electronics: Self‐Bondable and Stretchable Conductive Composite Fibers with Spatially Controlled Percolated Ag Nanoparticle Networks: Novel Integration Strategy for Wearable Electronics (Adv. Funct. Mater. 49/2020)

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advanced Functional Materials 2020年第49期30卷 2070321-2070321页

作者： Chaebeen Kwon Duhwan Seong Jeongdae Ha Dongwon Chun Jee‐Hwan Bae Kukro Yoon Minkyu Lee Janghoon Woo Chihyeong Won Seungmin Lee Yongfeng Mei Kyung‐In Jang Donghee Son Taeyoon Lee Nanobio Device Laboratory School of Electrical and Electronic Engineering Yonsei University 50 Yonsei‐ro Seodaemun‐gu Seoul 03722 Republic of Korea Department of Electrical and Computer Engineering Sungkyunkwan University 2066 Seobu‐ro Jangan‐gu Suwon‐si Gyeonggi‐do 16419 Republic of Korea Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) 333 Techno Jungang‐daero Hyeonpung‐eup Dalseong‐gun Daegu 42988 Republic of Korea Advanced Analysis Center Korea Institute of Science and Technology (KIST) 5 Hwarang‐ro 14‐gil Seongbuk‐gu Seoul 02792 Republic of Korea Department of Materials Science Fudan University Shanghai 200438 P. R. China

In article number 2005447, Donghee Son, Taeyoon Lee, and co‐workers develop self‐bondable and self‐weavable fibers as novel components for fiber‐based electronic devices. The fibers are both conductive and stretchable, which eliminates the trade‐off associated with the percolation theory. The integration with self‐bondable and self‐weavable interconnects represents a new integration strategy for fiber‐based devices.

关键词： fiber component integration self‐bondable conductive fibers stretchable and flexible interconnects wearable electronics

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Standardized Assessment of Automatic Segmentation of White Matter Hyperintensities and Results of the WMH Segmentation Challenge

arXiv

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arXiv 2019年

作者： Kuijf, Hugo J. Biesbroek, J. Matthijs Bresser, Jeroen de Heinen, Rutger Andermatt, Simon Bento, Mariana Berseth, Matt Belyaev, Mikhail Cardoso, M. Jorge Casamitjana, Adrià Collins, D. Louis Dadar, Mahsa Georgiou, Achilleas Ghafoorian, Mohsen Jin, Dakai Khademi, April Knight, Jesse Li, Hongwei Lladó, Xavier Luna, Miguel Mahmood, Qaiser McKinley, Richard Mehrtash, Alireza Ourselin, Sébastien Park, Bo-yong Park, Hyunjin Park, Sang Hyun Pezold, Simon Puybareau, Elodie Rittner, Leticia Sudre, Carole H. Valverde, Sergi Vilaplana, Verónica Wiest, Roland Xu, Yongchao Xu, Ziyue Zeng, Guodong Zhang, Jianguo Zheng, Guoyan Chen, Christopher Flier, Wiesje van der Barkhof, Frederik Viergever, Max A. Biessels, Geert Jan Image Sciences Institute UMC Utrecht Utrecht University Netherlands Brain Center Rudolf Magnus UMC Utrecht Utrecht University Netherlands Department of Radiology UMC Utrecht Department of Radiology LUMC Leiden Netherlands Department of Biomedical Engineering University of Basel Allschwil Switzerland Radiology and Clinical Neuroscience Hotchkiss Brain Institute University of Calgary AB Canada NLP Logix Skolkovo Institute of Science and Technology School of Biomedical Engineering and Imaging Sciences King’s College London Centre for Medical Image Computing University College London Signal Theory and Communications Department Universitat Politècnica de Catalunya BarcelonaTech Barcelona Spain McGill University Canada Computational Statistics and Machine Learning MSc University College London TomTom Amsterdam Netherlands Department of Radiology and Imaging Science National Institutes of Health United States Ryerson University Canada University of Guelph Canada Sun Yat-sen University University of Dundee Technical University of Munich Research institute of Computer Vision and Robotics University of Girona Spain Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology Daegu Korea Republic of Pakistan Institute of Nuclear Science and Technology Support Center for Advanced Neuroimaging Institute for Diagnostic and Interventional Neuroradiology Inselspital University of Bern Switzerland Electrical and Computer Engineering Department University of British Columbia Vancouver Department of Radiology Brigham and Women’s Hospital Harvard Medical School Boston School of Biomedical Engineering and Imaging Sciences King’s College London Suwon Korea Republic of School of Electronic and Electrical Engineering Sungkyunkwan University Suwon Korea Republic of France School of Electrical and Computer Engineering University of Campinas SP Brazil School of Biomedical Engineering and Imaging Sciences King’s College London Centre for Medical I

Quantification of cerebral white matter hyperintensities (WMH) of presumed vascular origin is of key importance in many neurological research studies. Currently, measurements are often still obtained from manual segmentations on brain MR images, which is a laborious procedure. Automatic WMH segmentation methods exist, but a standardized comparison of the performance of such methods is lacking. We organized a scientific challenge, in which developers could evaluate their method on a standardized multi-center/-scanner image dataset, giving an objective comparison: the WMH Segmentation Challenge (https://***/).Sixty T1+FLAIR images from three MR scanners were released with manual WMH segmentations for training. A test set of 110 images from five MR scanners was used for evaluation. Segmentation methods had to be containerized and submitted to the challenge organizers. Five evaluation metrics were used to rank the methods: (1) Dice similarity coefficient, (2) modified Hausdorff distance (95th percentile), (3) absolute log-transformed volume difference, (4) sensitivity for detecting individual lesions, and (5) F1-score for individual lesions. Additionally, methods were ranked on their inter-scanner *** participants submitted their method for evaluation. This paper provides a detailed analysis of the results. In brief, there is a cluster of four methods that rank significantly better than the other methods, with one clear winner. The inter-scanner robustness ranking shows that not all methods generalize to unseen *** challenge remains open for future submissions and provides a public platform for method evaluation. Copyright © 2019, The Authors. All rights reserved.

关键词： Magnetic resonance imaging

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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2017 IEEE International Conference on robotics and automation, ICRA 2017

作者： Guo, Dejun Wang, Hesheng Chen, Weidong Liu, Ming Xia, Zeyang Leang, Kam K. Lab University of Utah Robotics Center Salt Lake CityUT84112 United States Department of Automation Shanghai Jiao Tong University Shanghai200240 China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong Hong Kong Institute of Biomedical and Health Engineering Key Laboratory of Human-Machine Intelligence-Synergy Systems Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen China

ISBN: (纸本)9781509046331

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme. © 2017 IEEE.

关键词： Mobile robots

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Multiple Model based Unscented Particle Filter Algorithm for a SINS/CNS Integrated Navigation System

Multiple Model based Unscented Particle Filter Algorithm for...

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American Control Conference

作者： Fangfang Zhao Shuzhi Sam Ge Wei He School of Computer Science and Engineering Center for Robotics University of Electronic Science and Technology of China Chengdu 611731 China the Department of Electrical and Computer Engineering National University of Singapore 117576 Singapore and Center for Robotics University of Electronic Science and Technology of China Chengdu 611731 China School of Automation and Electrical Engineering University of Science and Technology of Beijing Beijing 100083 China

ISBN: (纸本)9781509045839

The single model filter has poor adaptability under the uncertain or unknown system parameters, multiple model filters can be used to resolve this problem. This paper investigates the multiple model adaptive estimation (MMAE) algorithm and proposes a multiple model unscented particle filter (MMUPF) algorithm. Forward the traditional MMAE method which uses extend Kalman filter (EKF) or unscented Kalman filter (UKF) as each filter to execute the state estimation process. In this method, we combine MMAE with unscented particle filter (UPF), and replace UKF with UPF which shows higher accuracy than UKF for the nonlinear system. At the same time, this algorithm is applied to the integrated navigation system which combines strap-down inertial navigation with celestial navigation by a ballistic missile. Simulations are provided to demonstrate that MMUPF algorithm has the highest navigation precision, but at the cost of heavier computational burden.

关键词： resolve problem paper Resolve hybrid navigation systems Navigation systems Particle filtering algorithm State estimation Celestial navigation INERTIAL NAVIGATION paper Particle filters Filters multiples Nonlinear systems system parameter

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Adaptive control for an uncertain robotic manipulator with input saturations

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Control Theory and technology 2016年第2期14卷 113-121页

作者： Trong-Toan TRAN Shuzhi Sam GE Wei HE Center for Robotics and School of Automation Engineering University of Electronic Science and Technology of China (UESTC) Chengdu Sichuan 611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore 117576 Faculty of Electronic Technology Industrial University of rio Chi Minh City Ho Chi Minh City Vietnam School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing 100083 China

In this paper, we address the control problem of an uncertain robotic manipulator with input saturations, unknown input scalings and disturbances. For this purpose, a model reference adaptive control like （MRAC-like） is used to handle the input saturations. The model reference is input to state stable （ISS） and driven by the errors between the required control signals and input saturations. The uncertain parameters are dealt with by using linear-in-the-parameters property of robotic dynamics, while unknown input scalings and disturbances are handled by non-regressor based approach. Our design ensures that all the signals in the closed-loop system are bounded, and the tracking error converges to the compact set which depends on the predetermined bounds of the control inputs. Simulation on a planar elbow manipulator with two joints is provided to illustrate the effectiveness of the proposed controller.

关键词： Robotic manipulator adaptive control uncertain parameter input saturation trajectory tracking

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Automatic metal drum opening-sealing device prototype for nuclear power plant

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Revista Tecnica de la Facultad de Ingenieria Universidad del Zulia 2016年第6期39卷 264-275页

作者： Liu, Sibang Ge, Shuzhi Sam Zhao, Qian Huang, Gang Su, Zhe School of Automation Engineering University of Electronic Science and Technology of China ChengduSichuan611731 China Center for Robotics University of Electronic Science and Technology of China ChengduSichuan611731 China Department of Electrical and Computer Engineering National University of Singapore Singapore Singapore Centre for Robotics University of Electronic Science and Technology of China China

Automatic metal drum opening-sealing device is the key device of the low and intermediate level radioactive wastes treatment line for the nuclear power plant, which is used to open and seal the metal drum filled with radioactive wastes automatically. This paper firstly analyzes the key technologies of the metal drum opening-sealing device which include the technology of metal drum positioning, drum trip bolt and bolt hole positioning, drum cover depositing and bolt tightening shaft torque controlling. Then, based on the modular design method, a device prototype was designed and made and tests were carried out based on the prototype. The test results verified the design rationality and high operation efficiency of the prototype. © 2016, Revista Tecnica de la Facultad de Ingeniera. All rights reserved.

关键词： Bolt tightening

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Towards an aggregator that exploits big data to bid on frequency containment reserve market

Towards an aggregator that exploits big data to bid on frequ...

引用

Annual Conference of Industrial Electronics Society

作者： Christian Giovanelli Xin Liu Seppo Sierla Valeriy Vyatkin Ryutaro Ichise Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland National Institute of Informatics Tokyo Japan Artificial Intelligence Research Center National Institute of Advanced Industrial Science and Technology Tokyo Japan SRT Luleå University of Technology Sweden

The increased penetration of distributed and volatile renewable generation requires the demand-side to be actively involved in energy balancing operations. This paper proposes a solution in which big data and machine learning methods are employed to enhance the capabilities of a Virtual Power Plant to participate and intelligently bid into a demand response energy market. The energy market being investigated consists of the frequency containment reserve market. First, we define the core decision-making required to overcome the uncertainties in the frequency containment reserve market participation for a Virtual Power Plant. Then, we focus on forecasting the frequency containment reserve prices for the day-ahead. We analyze the price data, and identify and collect the relevant features for the prediction of the prices. In addition, we select several regression analysis methods to be utilized for the prediction. Finally, we evaluate the performance of the implemented methods by executing several experiments, and compare the the performance with the performance of a state of the art autoregression method.

关键词： Big Data Uncertainty Forecasting Regression analysis Power generation Load management Smart meters

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