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Research Square 2020年

作者： Chen, Zhihua Wang, Shoukun Liu, Quan Wang, Junzheng Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Servo Motion System Drive and Control Ministry of Industry and Information Technology School of Automation Beijing Institute of Technology Beijing100081 China New Energy Laboratory College of Mechanical and Electrical Engineering Beijing Information Science and Technology University Beijing100192 China

In view of the disadvantages of Traditional tandem joint type thin-plate palletizing robots using push-down adsorption sorting, such as moving path complexity, large occupied space, joint error stack and low end control precision, a novel multi-link mechanism thin-plate palletizing robot is developed. The kinematics analysis is carried out based on the analysis of the overall structure for the manipulator, a genetic algorithm based on the stroke speed ratio K, the transmission angle γ and the four-bar size is proposed to realize the optimal design of the four-link rocker arm mechanism. Secondly, a finite element based overall structure analysis method is proposed, which obtains the most affected part of the vibration process of a manipulator and performs load verification to prevent early warning and reference of faults caused by mechanical resonance. To solve the control problem of nonlinear strongly coupled dynamic systems, an iterative learning fuzzy adaptive control algorithm is proposed to achieve the smooth running of the manipulator and the high-precision tracking of the end centroid trajectory. The experimental results verify the feasibility and effectiveness of the proposed multi-link controllable thin-plate palletizing manipulator's overall structural design and iterative learning control method, which is well applied in practical engineering. © 2020, CC BY.

关键词： Manipulators

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Hyperchaos synchronization using univariate impulse control

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Physical Review E 2019年第5期100卷 052215-052215页

作者： Kun Tian Chao Bai Hai-Peng Ren Celso Grebogi Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an 710048 China School of Mechatronics Engineering Xi'an Technological University Xi'an 710048 China Institute for Complex System and Mathematical Biology SUPA University of Aberdeen AB24 3UE United Kingdom

Rössler and Chen systems with time delay are shown to be hyperchaotic, which exhibits a more complex dynamics, including multiple positive Lyapunov exponents and infinite dimension. The hyperchaos has better application potential where hyperchaos synchronization is concerned. Univariate impulse control requires smaller perturbation to the response system, thus promising better performance. However, synchronization of two hyperchaotic systems using this control method is a challenging task due to the difficulty to guarantee synchronization stability using a minimum number of manipulated variables. In this paper, a univariate impulse control method is proposed for the synchronization of two hyperchaotic dynamics generated by time delay. A theorem is developed and proved to provide the sufficient conditions for the synchronization of time delay systems using the univariate impulse control. The upper bound of the impulse interval is proved to guarantee the asymptotic synchronization. Simulation and circuit experiment show the correctness of the analysis and the feasibility of the proposed method.

关键词： control & applications of chaos Synchronization

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Multi-carrier Differential Chaos Shift Keying Wireless Communication Based On Chaotic Shape-forming Filter

Multi-carrier Differential Chaos Shift Keying Wireless Commu...

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Chinese Automation Congress (CAC)

作者： Hai-Peng Ren Si-Long Guo Chao Bai Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi’an University of Technology Xi’an China School of Mechatronic Engineering Xi’an Technological University Xi’an China

In recent years, chaotic communication has shown advantages, such as used the simplest matched filter to make signal-to-noise ratio (SNR) maximization and improve the resistance to multi-path interference. The chaotic shape-forming filter (CSF) has been proposed to generate the chaotic baseband signal in the wireless communication, the additional advantage of the chaotic shape-forming filter is able to generate the chaotic signal as spread sequence in Differential Chaotic Shift Key (DCSK), which encodes information in the sequence. In this paper, the chaotic signal generated by CSF is used in DCSK and combined with multi-carrier frequency to improve the bit transmission rate. Because of CSF used, it helps to improve both Bit Error Rate (BER) performance and provide an additional information flow in the spread sequence itself. Simulation results indicate that the proposed method is superior to other methods over the Addition White Gaussian Noise (AWGN) channel and wireless channel.

关键词： Chaotic communication Signal to noise ratio Wireless communication Simulation Demodulation Data communication

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Wireless communication using chaotic baseband waveform

arXiv

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arXiv 2019年

作者： Yao, Jun-Liang Sun, Yu-Zhe Ren, Hai-Peng Grebogi, Celso Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an710048 China Institute for Complex System and Mathematical Biology University of Aberdeen AB24 3UE United Kingdom

Some new properties of the chaotic signal have been implemented in communication system applications recently. They include: (i) chaos is proven to be the optimal communication waveform in the sense of very simple matched filter being used to achieve maximum signal to noise ratio;(ii) the amount of information contained in a chaotic signal is unaltered by a wireless multipath channel;and (iii) chaos property can be used to resist multipath effect. All these support the application of chaos in a practical communication system. However, due to the broadband property of the chaotic signal, it is very difficult for a practical transducer or antenna to convert such a broadband signal into a signal that would be suitable for practical band-limited wireless channel. Thus, the use of chaos property to improve the performance of conventional communication system without changing the system configuration becomes a critical issue in communication with chaos. In this paper, chaotic baseband waveform generated by a chaotic shaping filter is used to show that this difficulty can be overcome. The generated continuous-time chaotic waveform is proven to be topologically conjugate to a symbolic sequence, allowing the encoding of arbitrary information sequence into the chaotic waveform. A finite impulse response filter is used to replace the impulse control in order to encode information into the chaotic signal, simplifying the algorithm for high speed communication. A wireless communication system is being proposed using the chaotic signal as the baseband waveform, which is compatible with the general wireless communication platform. The matched filter and decoding method, using chaos properties, enhance the communication system performance. The Bit Error Rate (BER) and computational complexity performances of the proposed wireless communication system are analyzed and compared with the conventional wireless systems. The results show that the proposed chaotic baseband waveform of our

关键词： Bit error rate

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Regularized densely-connected pyramid network for salient instance segmentation

arXiv

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arXiv 2020年

作者： Wu, Yu-Huan Liu, Yun Zhang, Le Gao, Wang Cheng, Ming-Ming TKLNDST College of Computer Science Nankai University Tianjin300350 China ETH Zurich Switzerland School of Information and Communication Engineering University of Electronic Science and Technology of China China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China

Much of the recent efforts on salient object detection (SOD) have been devoted to producing accurate saliency maps without being aware of their instance labels. To this end, we propose a new pipeline for end-to-end salient instance segmentation (SIS) that predicts a class-agnostic mask for each detected salient instance. To better use the rich feature hierarchies in deep networks and enhance the side predictions, we propose the regularized dense connections, which attentively promote informative features and suppress non-informative ones from all feature pyramids. A novel multi-level RoIAlign based decoder is introduced to adaptively aggregate multi-level features for better mask predictions. Such strategies can be well-encapsulated into the Mask R-CNN pipeline. Extensive experiments on popular benchmarks demonstrate that our design significantly outperforms existing state-of-the-art competitors by 6.3% (58.6% vs. 52.3%) in terms of the AP metric. The code is available at https://***/yuhuan-wu/RDPNet. © 2020, CC BY-NC-ND.

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A distributed alternating direction method of multipliers algorithm for consensus optimization

A distributed alternating direction method of multipliers al...

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Chinese Automation Congress (CAC)

作者： Xia Zhang Ding Liu Fei Yu Duqiao Zhao National and Local Joint Engineering Research Center of Crystal Growth Equipment and System Integration Xian University of Technology Xian China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xian China

The Alternating Directions Methods of Multipliers (ADMM) are widely used in many fields of scientific computing in recent years. This method applies iterative computation to the information exchange between individual agent and neighbor. However, despite the success of traditional centralized ADMM in some application environments, its applicability is limited in global convergence center by its communication requirements. In our paper, we provide the linear convergence rate for this distributed consensus optimization problem, which satisfies strongly convex local objective functions. Then, the properties of the local objective function and the parameters of the algorithm, the theoretical convergence rate is given according to the network topology.

关键词： Convergence Optimization Linear programming Convex functions Numerical models Signal processing algorithms information processing

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Mem Brain: An Easy-to-Use Online Webserver for Transmembrane Protein Structure Prediction

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Nano-Micro Letters 2018年第1期10卷 12-19页

作者： Xi Yin Jing Yang Feng Xiao Yang Yang Hong-Bin Shen Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Computer Science Shanghai Jiao Tong University Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering

Membrane proteins are an important kind of proteins embedded in the membranes of cells and play crucial roles in living organisms, such as ion channels,transporters, receptors. Because it is difficult to determinate the membrane protein's structure by wet-lab experiments,accurate and fast amino acid sequence-based computational methods are highly desired. In this paper, we report an online prediction tool called Mem Brain, whose input is the amino acid sequence. Mem Brain consists of specialized modules for predicting transmembrane helices, residue–residue contacts and relative accessible surface area of a-helical membrane proteins. Mem Brain achieves aprediction accuracy of 97.9% of ATMH, 87.1% of AP,3.2 ± 3.0 of N-score, 3.1 ± 2.8 of C-score. Mem BrainContact obtains 62%/64.1% prediction accuracy on training and independent dataset on top L/5 contact prediction,respectively. And Mem Brain-Rasa achieves Pearson correlation coefficient of 0.733 and its mean absolute error of13.593. These prediction results provide valuable hints for revealing the structure and function of membrane *** Brain web server is free for academic use and available at ***/bioinf/Mem Brain/.

关键词： Transmembrane a-helices Structure prediction Machine learning Contact map prediction Relative accessible surface area

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Synchronization stability and circuit experiment of hyperchaos with time delay using impulse control

arXiv

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arXiv 2019年

作者： Ren, Hai-Peng Tian, Kun Bai, Chao Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xian University of Technology Xian710048 China School of Mechatronics Engineering Xi’an Technological University Xian710048 China

Secure communication using hyperchaos has a better potential performance, but hyperchaotic impulse circuits synchronization is a challenging task. In this paper, an impulse control method is proposed for the synchronization of two hyperchaotic Chen circuits. The sufficient conditions for the synchronization of hyperchaotic systems using the impulse control are given. The upper bound of the impulse interval is derived to assure the synchronization error system to be asymptotically stable. Simulation and circuit experiment show the correctness of the analysis and feasibility of the proposed method. Copyright © 2019, The Authors. All rights reserved.

关键词： Synchronization

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Robotic Electrospinning Actuated by Non-Circular Joint Continuum Manipulator for Endoluminal Therapy

Robotic Electrospinning Actuated by Non-Circular Joint Conti...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Zicong Wu Chuqian Lou Zhu Jin Shaoping Huang Ning Liu Yun Zou Mirko Kovac Anzhu Gao Guang-Zhong Yang Shanghai Jiao Tong University Shanghai P. R. China Imperial College London and Empa-Swiss Federal Laboratories for Materials Science and Technology Precision Robotics (Hong Kong) Limited Hong Kong China Aerial Robotics Laboratory Imperial College London London United Kingdom Shanghai Jiao Tong University and the Key Laboratory of System Control and Information Processing Ministry of Education Shanghai China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai P. R. China

Electrospinning has exhibited excellent benefits to treat the trauma for tissue engineering due to its produced micro/nano fibrous structure. It can effectively adhere to the tissue surface for long-term continuous therapy. This paper develops a robotic electrospinning platform for endoluminal therapy. The platform consists of a continuum manipulator, the electrospinning device, and the actuation unit. The continuum manipulator has two bending sections to facilitate the steering of the tip needle for a controllable spinning direction. Non-circular joint profile is carefully designed to enable a constant length of the centreline of a continuum manipulator for stable fluid transmission inside it. Experiments are performed on a bronchus phantom, and the steering ability and bending limitation in each direction are also investigated. The endoluminal electrospinning is also fulfilled by a trajectory following and points targeting experiments. The effective adhesive area of the produced fibre is also illustrated. The proposed robotic electrospinning shows its feasibility to precisely spread more therapeutic drug to construct fibrous structure for potential endoluminal treatments.

关键词： Drugs Electric potential Fluids Tissue engineering Medical treatment Bending Manipulators

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control-oriented fault detection of solid oxide fuel cell system unknown input on fuel supply

Control-oriented fault detection of solid oxide fuel cell sy...

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作者： Wu, Xiao-long Xu, Yuan-wu Xue, Tao Shuai, Junchao Jiang, Jianhua Deng, Zhonghua Fu, Xiaowei Li, Xi School of Automation Key Laboratory of Education Ministry for Image Processing and Intelligent Control Huazhong University of Science & Technology Wuhan China College of Computer Science and Technology Hubei Province Key Laboratory of Intelligent Information Processing and Real-time Industrial System Wuhan University of Science and Technology Wuhan China Wuhan Industrial Economic Development Research Center Wuhan China Shenzhen Huazhong University of Science and Technology Research Institute Shenzhen China

As the solid oxide fuel cell (SOFC) system work environment is a high-temperature environment for a long time, it is difficult to obtain the SOFC stack internal state change directly. When the fault occurs, it is difficult to determine where the fault occurs. Moreover, the existing literature ignores the impact of faults, which creates many problems for SOFC system control. Therefore, a state observer-based fault detection method, which is used to detect the input flow sensor fault and the fuel input fault, is proposed. Their advantage is that they do not need data processing. To realize the fault detection, the observer is used to track the changes of SOFC stack chamber temperature. To obtain the observer estimation parameter, an approach from the actual stack structure parameters is employed to approximate the observer parameters. The results show the proposed fault detect method can judge fuel input fault type quickly and shield the disturbances signals from the sensor effectively. The proposed method also can be used to other operating points or air input fault. © 2018 Chinese Automatic control Society and John Wiley & Sons Australia, Ltd

关键词： Fault detection

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