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15th World Congress of the International Federation of Automatic control, 2002

作者： Wang, Hua O. Gu, Yongru Fang, Huajing Department of Electrical and Computer Engineering Duke University DurhamNC27708-0291 United States Center for Nonlinear and Complex Systems Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9783902661746

In this paper, the design of explicit rate-based congestion control in high speed communication networks is considered. At a bottleneck node, there are multiple best-effort sources competing with other high priority cross traffic sources. The goal of congestion control is to achieve high link utilization, low packet loss, low delay, and fairness among the best-effort sources. In this paper, the high priority traffic is described by an autoregressive integrated moving average (ARIMA) process. To deal with the propagation delays associated with the best-effort sources, model predictive control, particularly, generalized predictive control, techniques are proposed to solve the congestion problem here. It is demonstrated that the proposed controller performs well and is robust to delay uncertainties. In addition, in a multiple-nodes configuration, the controller provides max-min fairness. Copyright © 2002 IFAC.

关键词： controllers

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Fault tolerance for communication-based multirobot formation

Fault tolerance for communication-based multirobot formation

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International Conference on Machine Learning and Cybernetics (ICMLC)

作者： Lei Cheng Yong-Ji Wang Center for Nonlinear and Complex System Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

ISBN: (纸本)0780384032

This paper investigates the ability of fault tolerance for multirobot formation, which is important for practical formation in complex environment. Our model enables mobile robots group to continue to complete given tasks by reorganizing their formation, when some members are in failure. First, to build such model, a multi-agent architecture is presented, which is implemented through communication. Second, we introduce the hierarchy graph of multirobot formation to be the theoretical foundation of the fault tolerance system. The graph analysis is suitable for general leader-follower formation format. And then, the failure detection mechanism for formation is discussed. Finally, integrated fault tolerance algorithm is investigated, including supplement for faulty robots and formation reconfiguration. The improved agent architecture adding the fault tolerance module is also presented. The experiments on real multiple mobile robots demonstrate our design is feasible.

关键词： Fault tolerance Mobile robots Fault tolerant systems Communication system control Robot kinematics Mobile communication control systems Multirobot systems Intelligent sensors Engines

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Localization of the autonomous mobile robot based on sensor fusion

Localization of the autonomous mobile robot based on sensor ...

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IEEE International Symposium on Intelligent control (ISIC)

作者： Lei Cheng Yongji Wang Center for Nonlinear and Complex System Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan China

This paper emphasizes on the sensor fusion algorithm on mobile robot's localization, to solve the problem of accumulated error attributed to wheel encoders and redundant readings in multi-sonar system. Based on the error analysis of wheel encoders and sonar, a new integrated intelligent sensor fusion algorithm is introduced, the novel core of such algorithm is error judgement rule. With this technique, the mobile robot can autonomously correct its position in proper time. As demonstration, an experiment on the Pioneer II mobile robot has been completed. Pioneer II is an intelligent mobile robotic platform manufactured by ActivMedia Corporation, it is equipped with an internal wheel encoders and a full-span sonar ring. The experiment result shows that such algorithm not only avoids the error accumulation with regard to wheel encoders, but also guarantees the motion speed of robot.

关键词： Mobile robots Sensor fusion Wheels Sonar Robot kinematics Intelligent sensors Intelligent robots Signal processing algorithms Robot sensing systems Error analysis

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Enhancing the network synchronizability

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中国高等学校学术文摘·物理学 2007年第4期2卷 460-468页

作者： ZHAO Ming ZHOU Tao CHEN Guan-rong WANG Bing-hong Department of Electronic Engineering City University of Hong Kong Kowloon Hong Kong SAR China Department of Modern Physics and Nonlinear Science Center University of Science and Technology of ChinaHefei 230026China Department of Modern Physics and Nonlinear Science Center University of Science and Technology of ChinaHefei 230026China Department of Physics University of Fribourg Chemin du Muse 3CH-1700 FribourgSwitzerland Department of Electronic Engineering City University of Hong Kong Kowloon Hong Kong SAR China Department of Modern Physics and Nonlinear Science Center University of Science and Technology of ChinaHefei 230026China Institute of Complex Adaptive Systems Shanghai Academy of System ScienceShanghai 200093China

The structural and dynamical properties, partic-ularly the small-world effect and scale-free feature, of com-plex networks have attracted tremendous interest and atten-tion in recent years. This article offers a brief review of one focal issue concerning the structural and dynamical behav-iors of complex network synchronization. In the presenta-tion, the notions of synchronization of dynamical systems on networks, stability of dynamical networks, and relationships between network structure and synchronizability, will be first introduced. Then, various technical methods for enhancing the network synchronizability will be discussed, which are roughly divided into two classes: Structural Modification and Coupling-Pattern Regulation, where the former includes three typical methods-dividing hub nodes, shortening average dis-tances, and deleting overload edges, while the latter mainly is a method of strengthening the hub-nodes' influence on the network.

关键词： complex networks synchronization structural modification coupling pattern

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An adaptive fault detection strategy for Cz crystal growth process

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IEEE Transactions on Instrumentation and Measurement 2025年

作者： Mu, Lingxia Feng, Nan Zhang, Zhenhua Zhang, Youmin Zhang, Jian Xian University of Technology Crystal Growth Equipment and Systems Integration National Engineering Research Center Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xian710048 China University of Science and Technology Beijing School of Intelligence Science and Technology Beijing100083 China Concordia University Department of Mechanical Industrial and Aerospace Engineering MontrealQCH3G 1M8 Canada

The monitoring and fault detection for the Czochralski (Cz) crystal growth process is important to ensure the quality of the produced mono-crystalline silicon. The Cz process is a typical multi-modes industrial process, which makes the detection difficult in distinguish the change caused by the fault or mode switching. In this paper, an adaptive fault detection strategy for Cz crystal growth process is proposed. Firstly, quality-related variables are selected from numerous process variables, based on which the training dataset is constructed. Then, a fault detection model is built based on slowly-varying feature and statics indicator. A model switching strategy and updating algorithm are designed to handle the abnormal situation caused by the mode switching or fault occurrence. Three representative experiments are conducted to verify the performance of the proposed strategy, including numerical cases, a publicly available dataset, and Cz crystal growth process from our laboratory. © 1963-2012 IEEE.

关键词： Crystal growth from melt

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Communication-based multiple mobile robots rigid formation control

Communication-based multiple mobile robots rigid formation c...

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International Conference on control, Automation, Robotics and Vision (ICARCV)

作者： Lei Cheng Yongji Wang Center for Nonlinear and Complex Systems Department of Control Science and Engineering University of Science and Technology Wuhan China

ISBN: (纸本)0780386531

In this paper, we describe a general multiple mobile robots formation control system through communication channel. With this technique, the multirobot formation control system without environment constraint can be realized. A distinguishing feature of our work is the fact that robot formation relies only on communication whether the members in team sense others or not. Firstly, we propose a kind of multirobot formation architecture based on multi-agent system. Furthermore, in this architecture, modularization agent design is taken. To demonstrate the validity of such framework, an improved closed-up multirobot rigid formation control algorithm is introduced. Our results include a series of virtual robot simulations and experiments using three mobile robots. The results show our design is feasible.

关键词： Mobile communication Mobile robots Robot control Communication system control control systems Robot sensing systems Communication channels Multiagent systems

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Magnetic Microrobots Fabricated by Photopolymerization and Assembly

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Cyborg and Bionic systems 2023年第1期4卷 41-46页

作者： Xiyue Liang Yue Zhao Dan Liu Yan Deng Tatsuo Arai Masaru Kojima Xiaoming Liu Key Laboratory of Biomimetic Robots and Systems Ministry of EducationState Key Laboratory of Intelligent Control and Decision of Complex SystemBeijing Advanced Innovation Center for Intelligent Robots and Systemsand School of Mechatronical EngineeringBeijing Institute of TechnologyBeijing 100081China Center for Neuroscience and Biomedical Engineering The University of Electro-CommunicationsTokyo 182-8585Japan Department of Materials Engineering Science Osaka UniversityOsaka 560-8531Japan

Magnetic soft microrobots have great potential to access narrow spaces and conduct multiple tasks in the biomedical *** now,drug delivery,microsurgery,disease diagnosis,and dredging the blocked blood vessel have been realized by magnetic soft microrobots in vivo or in ***,as the tasks become more and more complex,more functional units have been embedded in the body of the developed magnetic *** magnetic soft microrobots with complex designed geometries,mechanisms,and magnetic orientation are now greatly challenging the fabrication of the magnetic *** this paper,we propose a new method combining photopolymerization and assembly for the fabrication of magnetic soft *** the micro-hand assembly system,magnetic modules with different shapes and materials are firstly arrayed with precise position and orientation ***,the developed photopolymerization system is employed to fix and link these modules with soft *** on the proposed fabrication method,3 kinds of soft magnetic microrobots were fabricated,and the fundamental locomotion was *** believe that the presented fabrication strategy could help accelerate the clinical application of magnetic microrobots.

关键词： Magnetic system precise

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ROBUST CONGESTION control IN HIGH SPEED COMMUNICATION NETWORKS: A MODEL PREDICTIVE control APPROACH

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IFAC Proceedings Volumes 2002年第1期35卷 103-108页

作者： Hua O. Wang Yongru Gu Huajing Fang Laboratory for Intelligent and Nonlinear Control (LINC) Department of Electrical and Computer Engineering Duke University Durham NC 27708-0291 USA Center for Nonlinear and Complex Systems Department of Control Science and Engineering Huazhong University of Science and Technology Wuhan 430074 China

关键词： Communication control applications Model-based control Predictive control Communication networks Time delay Robustness

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Ozone and secondary organic aerosol formation potential from anthropogenic volatile organic compounds emissions in China

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Journal of Environmental sciences 2017年第3期29卷 224-237页

作者： WenJing Wu Bin Zhao Shuxiao Wang Jiming Hao State Key Joint Laboratory of Environment Simulation and Pollution Control School of EnvironmentTsinghua UniversityBeijing 100084China State Environmental Protection Key Laboratory of Sources and Control of Air Pollution Complex Beijing 100084China Collaborative Innovation Center for Regional Environmental Quality Tsinghua UniversityBeijin9 100084China Joint Institute for Earth System Science and Engineering Department of Atmospheric and Oceanic SciencesUniversity of CaliforniaLos AngelesCA 90095USA.

Volatile organic compounds （VOCs） are major precursors for ozone and secondary organic aerosol （SOA）, both of which greatly harm human health and significantly affect the Earth＇s climate. We simultaneously estimated ozone and SOA formation from anthropogenic VOCs emissions in China by employing photochemical ozone creation potential （POCP） values and SOA yields. We gave special attention to large molecular species and adopted the SOA yield curves from latest smog chamber experiments. The estimation shows that alkylbenzenes are greatest contributors to both ozone and SOA formation （36.0% and 51.6%, respectively）, while toluene and xylenes are largest contributing individual VOCs. Industry solvent use, industry process and domestic combustion are three sectors with the largest contributions to both ozone （24.7%, 23.0% and 17.8%, respectively） and SOA （22.9%, 34.6% and 19.6%, respectively） formation. In terms of the formation potential per unit VOCs emission, ozone is sensitive to open biomass burning, transportation, and domestic solvent use, and SOA is sensitive to industry process, domestic solvent use, and domestic combustion. Biomass stoves, paint application in industrial protection and buildings, adhesives application are key individual sources to ozone and SOA formation, whether measured by total contribution or contribution per unit VOCs emission. The results imply that current VOCs control policies should be extended to cover most important industrial sources, and the control measures for biomass stoves should be tightened. Finally, discrepant VOCs control policies should be implemented in different regions based on their ozone/aerosol concentration levels and dominant emission sources for ozone and SOA formation potential.

关键词： Volatile organic compounds （VOCs）OzoneSecondary organic aerosol （SOA）Formation potentialcontrol strategy

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Flow field analyses of a porous membrane-separated,double-layered microfluidic chip for cell co-culture

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Acta Mechanica Sinica 2020年第3期36卷 754-767页

作者： Shenbao Chen Jian Xue Jinrong Hu Qihan Ding Luwen Zhou Shiliang Feng Yuhong Cui Shouqin Lu Mian Long Center of Biomechanics and Bioengineering Key Laboratory of Microgravity(National Microgravity Laboratory)Beijing Key Laboratory of Engineered Construction and Mechanobiologyand CAS Center for Excellence in Complex System MechanicsInstitute of MechanicsChinese Academy of SciencesBeijing100190China School of Engineering Science University of Chinese Academy of SciencesBeijing 100049China State Key Laboratory of Nonlinear Mechanics(LNM) Institute of MechanicsChinese Academy of SciencesBeijing 100190China Faculty of Mechanical Engineering and Mechanics Ningbo UniversityNingbo 315211ZhejiangChina Department of Mechanics Tianjin UniversityTianjin 300072China

Organs-on-chips composed of a porous membrane-separated,double-layered channels are used widely in elucidating the effects of cell co-culture and flow shear on biological *** the diversity of channel geometry and membrane permeability is applied,their quantitative correlation with flow features is still *** boundary methods(IBM)simulations and theoretical modelling were performed in this *** simulations showed that channel length,height and membrane permeability jointly regulated the flow features of flux,penetration velocity and wall shear stress(WSS).Increase of channel length,lower channel height or membrane permeability monotonically reduced the flow flux,velocity and WSS in upper channel before reaching a *** the flow flux in lower channel monotonically increased with the increase of each factor,the WSS surprisingly exhibited a biphasic pattern with first increase and then decrease with increase of lower channel ***,the transition threshold of maximum WSS was sensitive to the channel length and membrane *** modeling,integrating the transmembrane pressure difference and inlet flow flux with chip geometry and membrane permeability,was in good agreement with IBM *** analyses provided theoretical bases for optimizing flow-specified chip design and evaluating flow microenvironments of in vivo tissue.

关键词： Immersed boundary method Porous membrane Wall shear stress Penetration velocity Microfluidic chip

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