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作者： Zhang, Bing Hu, Hong Li, Tianli Department of Mechanical Engineering and Automation Harbin Institute of Technology Shenzhen University Town Shenzhen518055 China College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China

The hydrocephalus shunt system has a high risk of malfunction, which could lead to serious problems for patients. It is therefore important to monitor intracranial pressure (ICP). In this paper, a novel ICP sensor is presented to provide real-time pressure measurement for hydrocephalus patients. Surface acoustic wave technology is adopted in the design of the sensor so that it can interrogate wirelessly;and no battery is needed for providing energy, hence it could have a longer life span. The finite element method (FEM) simulation is performed to investigate the input frequency of the sensor;a prototype is fabricated, and the corresponding measurement system based on the NI PXI platform is established to analyze the performance of the sensor. The sensor has a measurement range of 0-14 kPa with sensitivity of 2.95°/kPa. The experimental results strongly suggest that the proposed sensor has the potential in monitoring ICP. © 2014 World Scientific Publishing Company.

关键词： Finite element method

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Online Identification of Multivariable Nonlinear Processes with Iterative Structure Learning and Application to a Diesel Engine

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IFAC Proceedings Volumes 2014年第3期47卷 9216-9222页

作者： Marek Kowalczyk Boliang Yi Rolf Isermann Institute of Automatic Control and Mechatronics Laboratory of Control Engineering and Process Automation Technical University Darmstadt Germany

This contribution presents a new methodology for the online identification, which allows the modeling of the stationary and dynamic behavior of nonlinear combustion engines with many input and output variables in short time with an appropriate model structure. The used models are local polynomial model trees. The necessary enhancements and adaptations of the identification algorithm for local polynomial model trees for the online methodology are presented. To enable an online identification, not only the parameters but also the structure of the models has to be adapted to the ongoing measuring procedure at a test bench. This structure adaptation methods use iteratively recorded measured data for the determination of an optimized model partition and regressor selection regarding the quality and complexity of the model. This maximizes the iterative improvement of the mathematical model, leading to a reduced test bench time. The applicability of the developed methodology is shown for the identification of a model from both, an artificial test function as well as a real diesel engine.

关键词： Engine modeling Mechatronic combustion engine Iterative measurements Identification methods Online identification Model structure adaptation

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Optimal Tracking Performance of MIMO Networked control Systems with Communication Constraints

Optimal Tracking Performance of MIMO Networked Control Syste...

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第26届中国控制与决策会议

作者： Chao-Yang Chen Ming Chi Zhi-Hong Guan Xian-He Zhang Xi-Sheng Zhan College of Automation Huazhong University of Science and Technology College of Mechatronics and Control Engineering Hubei Normal University

In this paper, we study the optimal tracking performance problem of continuous-time linear multi-input multi-output(MIMO) networked control systems. The unstable and non-minimum phase systems is considered. The output feedback path is subject to quantization noise, additive white Gaussian noise and bandwidth constraints, and encoding and decoding are considered. The reference input is a random signal. The performance is measured through the tracking error energy, and two-parameter controller is considered. The explicit expression of the tracking performance has been obtained. The results show that the unstable poles and non-minimum phase zeros of the plant, the channel noise,bandwidth, quantization noise and coder will aggravate the optimal tracking performance.

关键词： Tracking Performance,Channel Noise,Quantization Noise,Bandwidth Constraint

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A robust algorithm for autotuning controllers in mechatronic modules

A robust algorithm for autotuning controllers in mechatronic...

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WGP Congress 2014

作者： Friedrich, Christian Stanicki, Andreas Bröcker, Markus Lechler, Armin Verl, Alexander Universität Stuttgart Institute for Control Engineering of Machine Tools and Manufacturing Units Seidenstraße 36 Stuttgart Germany Schunk GmbH and Co. KG R and D Automation and Mechatronics Bahnhofstraße 106-134 Lauffen/Neckar Germany Hochschule Heilbronn Laboratory for Control Engineering and System Simulation Max-Planck-Straße 39 Heilbronn Germany

ISBN: (纸本)9783038352457

Electric actuators are an important part of every manufacturing system. Often it is a problem to get a good motion control configuration which allows high performance tasks. This contribution shows how the mechanical load and the self-dynamics of the system associate. Based on this, it is possible to formulate an identification algorithm to estimate the mechanical load. Now all system parameters are known and the controller can be computed automatically. Therefore we show the results in an experiment with a classic cascaded and a flatness-based controller. © (2014) Trans Tech Publications, Switzerland.

关键词： Actuators

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Identification of linear parameter varying systems with missing output data using generalized expectation-maximization algorithm 19

Identification of linear parameter varying systems with miss...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Yang, X. Xiong, W. Huang, B. Gao, H. Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin Heilongjiang150080 China Jiangnan University Wuxi Jiangsu214122 China Department of Chemical and Materials Engineering University of Alberta EdmontonABT6G 2G6 Canada Research Institute of Mechatronics and Automation Bohai University Jinzhou121013 China

ISBN: (纸本)9783902823625

This paper is concerned with the identification problems of linear parameter varying (LPV) systems with randomly missing output data. Since one local linearized model cannot capture the global dynamics of the nonlinear industrial process, the multiple-model LPV model in which the global model is constructed by smoothly weighted combination of multiple local models is considered here. The problem of missing output variables data is commonly encountered in practice. In order to handle the multiple-model identification problems of LPV systems with incomplete data, the local model is taken to have a finite impulse response (FIR) model structure and the generalized expectation-maximization (EM) algorithm is adopted to estimate the unknown parameters of the global LPV model. To avoid the problems of ill-conditioned matrices and high sensitivity of parameters to noise, the prior information on the coefficients of each local FIR model is employed to construct the prior probability of unknown parameters. Then the maximum a posteriori (MAP) estimates of the global model parameters are derived via the generalized EM algorithm. The numerical example is presented to demonstrate the effectiveness of the proposed method. © IFAC.

关键词： Parameter estimation

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Stability and bifurcation analysis of new coupled repressilators in genetic regulatory networks with delays

Stability and bifurcation analysis of new coupled repressila...

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西南大学2014年全国博士生学术论坛(电子技术与信息科学领域)

作者： Guang Ling Zhi-Hong Guan Ding-Xin He Rui-Quan Liao Xian-He Zhang College of Automation Huazhong University of Science and Technology Wuhan 430074 China School of College of Automation Huazhong University of Science and Technology Wuhan 430074 China Petroleum Engineering College Yangtze UniversityJingzhou 420400 China College of Mechatronics and Control Engineering.Hubei Normal University Huangshi 435002 China

The genetic regulatory networks are complex dynamic systems which reflect various kinetic behaviors of living *** this paper, a new structure of coupled repressilators is introduced to exploit the underlying *** new coupled repressilator model consists of two identical repressilators inhibiting each other *** coupling delays are taken into *** existence of a unique equilibrium for this system is verified firstly, then the stability criteria for equilibrium are analyzed without and with coupling *** different functions on equilibrium and its stability played by related biochemical parameters in the structure including maximal transcription rate, coupling strength, the decay rate ratio between proteins and mRNAs, and coupling delays are *** last, several numerical simulations are made to demonstrate our results.

关键词： Coupled repressilators Stability Hopf bifurcation Coupling delays

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Multi-tracking of second order discrete-time multi-agent networks with aperiodic communication

Multi-tracking of second order discrete-time multi-agent net...

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World Congress on Intelligent control and automation (WCICA)

作者： Guang-Song Han Xian-He Zhang Zhi-Hong Guan Ding-Xue Zhang Rui-Quan Liao College of Automation Huazhong University of Science and Technology Wuhan P. R. China College of Mechatronics and Control Engineering Hubei Normal University Huangshi P. R. China Petroleum Engineering College Yangtze University Jingzhou P. R. China

A novel multi-tracking problem is introduced in multi-agent networks. The states of multiple agents in each subnetwork asymptotically converge to the same desired trajectory in the presence of information exchanges among subnetworks. A protocol with aperiodic sampled-data is proposed to achieve the multi-tracking of second order discrete-time multi-agent networks. The stability of dynamic systems is equivalent to the robust asymptotic stability of discrete-time systems with time-varying matrix uncertainties of polyhedral type. Necessary and sufficient conditions are established. Simulation results illustrate the effectiveness of the developed theory.

关键词： Eigenvalues and eigenfunctions Trajectory Protocols Equations Educational institutions Asymptotic stability Discrete-time systems

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GEM Algorithm Based Global Identification of LPV system with Time-delay and Missing Output Data

GEM Algorithm Based Global Identification of LPV system with...

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第25届中国过程控制会议

作者： Xianqiang Yang Biao Huang Huijun Gao Research Institute of Intelligent Control and Systems Harbin Institute of Technology Department of Chemical and Materials Engineering University of AlbertaEdmonton Alberta T6G 2G6 Canada Research Institute of Mechatronics and Automation Bohai University

This paper is concerned with the parameter estimation for linear parameter varying(LPV)systems with time-delay and completely randomly missing *** the LPV system model is often obtained in the input-output setting,the LPV input-output model is considered *** problems of time-delay and missing output data are commonly experienced in practical industrial *** LPV time-delay modeling problem with incomplete data set is formulated in the scheme of the generalized expectation-maximization(GEM)algorithm in which the time-delay and the model parameters are estimated *** numerical example is presented to demonstrate the effectiveness of the proposed method.

关键词： Linear parameter varying systems,Time-delay,Missing output data,Generalized expectation-maximization algorithm

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Mapping of incremental dynamic environment using Rao-Blackwellized particle filter

Mapping of incremental dynamic environment using Rao-Blackwe...

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12th International Conference on Intelligent Autonomous Systems, IAS 2012

作者： Öner, Alper Control and Automation Engineering Department Mechatronics Education and Research Center Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9783642339257

This research is a preliminary research for real time autonomous robot in unknown incremental dynamical environment. A general method for mapping incremental dynamic environment using Multiple Target tracking (MTT) was proposed in this research. Rao-Blackwellized Particle Filter (RBPF) was used for the multiple moving obstacles tracking problem. Firstly data association problem was solved via Multiple Hypothesis Tracking (MHT) data association by a new method. The new MHT method can use extra information except using only position of targets. Particle Filter is used in the method. Each particle is assumed as an obstacle map. Then tracking problem for each obstacle in the particle is solved by Extended Kalman Filter (EKF). Finally the particle which has highest weight is assumed as the dynamic map. Additionally a new resampling method was proposed in this research. The algorithm can cope with new obstacles and false detection according to the pure particle filter. Obstacles are assumed as human in this research hence their velocities are determined randomly up to human walking speed. Furthermore the robot moves approximately at human walking speed. A graphical user interface program was constituted in MATLAB so different states are surveyed. © 2013 Springer-Verlag.

关键词： Mapping

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Observer based output feedback tuning for underwater remotely operated vehicle based on linear quadratic performance

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AIP Conference Proceedings 2015年第1期1660卷

作者： Mohd Shahrieel Mohd Aras Shahrum Shah Abdullah Muhammad Nizam Kamarudin Ahmad Fadzli Nizam Abdul Rahman Fadilah Abd Azis Hazriq Izzuan Jaafar Department of Mechatronics Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Electric and Electronics Malaysia-Japan International Institute of Technology Universiti Teknologi Malaysia International Campus Jalan Semarak 54100 Kuala Lumpur Malaysia Department of Control and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Faculty of Information Technology and Computer Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia

This paper describes the effectiveness of observer-based output feedback for Unmanned Underwater Vehicle (UUV) with Linear Quadratic Regulation (LQR) performance. Tuning of observer parameters is crucial for tracking purpose. Prior to tuning facility, the ranges of observer and LQR parameters are obtained via system output cum error. The validation of this technique using unmanned underwater vehicles called Remotely Operated Vehicle (ROV) modelling helps to improve steady state performance of system response. The ROV modeling is focused for depth control using ROV 1 developed by the Underwater Technology Research Group (UTeRG). The results are showing that this technique improves steady state performances in term of overshoot and settling time of the system response.

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