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IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics

作者： Ricardo Morales Francisco Javier Badesa J. Rodriguez Nicolas Garcia-Aracil Jose Maria Azorin Carlos Perez-Vidal Department of Systems Engineering and Automatic Control Miguel Hernandez University

ISBN: (纸本)9781457711992

This paper presents the development of a rehabilitation robotic platform to research on the adaptation of the complexity of robot assisted therapy and the real-time displays of a virtual reality system in accordance with specific patient requirements. First, a kinematic analysis of the human arm during typical daily activities is presented to justify the design requirements of the robotic rehabilitation platform. Then, the other necessary components to monitor multi-sensory data from the subject and robotic side and to stimulate the subject during the task are described. Finally, first experimental results with the platform are presented to show that the therapy can be modulated in function of the patient state.

关键词： Platform Design Requirements Lake Restoration Rehabilitation rehabilitation therapy assisting with therapy

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Finite-time consensus control for multiple manipulators with unmodeled dynamics

Finite-time consensus control for multiple manipulators with...

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American control Conference

作者： Bin Zhang Yingmin Jia Junping Du Jun Zhang Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 China

ISBN: (纸本)9781479901777

This paper is devoted to the finite-time control problem for multiple manipulators, where unmodeled dynamics is taken into consideration. An effective coordinated control strategy is introduced, under which distributed protocols with continuous feedbacks are proposed. By applying the homogeneous theory for stability analysis, it is proven that the multi-robot system can be globally finite-time stabilized through our protocols. Numerical simulations on four manipulators with two degrees of freedom are presented to validate the effectiveness of the control strategy.

关键词： unmodeled dynamics control strategy Manipulators two degrees of freedom multi-robot systems Stability analysis distributed protocol

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Suboptimal distributed MPC based on a block-coordinate descent method with feasibility and stability guarantees

Suboptimal distributed MPC based on a block-coordinate desce...

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IEEE Annual Conference on Decision and control

作者： Ion Necoara University Politehnica Bucharest Automatic Control and Systems Engineering Department

ISBN: (纸本)9781467320658

In this paper we propose a distributed optimization algorithm to solving discrete linear model predictive control (MPC) problems for general networked systems. The new optimization algorithm is based on block coordinate descent updates in parallel with very simple iteration complexity and using only local information. We show that for smooth objective functions it has sublinear rate of convergence, while for strongly convex objective functions it converges linearly. An MPC controller based on this distributed optimization method is derived, for which every subsystem in the network can compute feasible and stabilizing control inputs using distributed computations. For ensuring stability of the MPC scheme, we use a terminal cost formulation and we eliminate the need for a zero terminal state, which proves to be less conservative than some terminal cost - terminal set approaches. We provide a distributed synthesis for a terminal cost, which satisfy distributed invariance conditions for the whole system and guarantees stability of the closed-loop interconnected system.

关键词： Optimization algorithms Maximum Allowable Concentration Objective function Distribute descent method local information. optimization method

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State estimation for jump Markov linear systems with uncompensated biases

State estimation for jump Markov linear systems with uncompe...

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American control Conference

作者： Wenling Li Yingmin Jia Junping Du Jun Zhang Deyuan Meng Seventh Research Division and the Department of Systems and Control Beihang University (BUAA) Beijing 100191 China. Beijing Key Laboratory of Intelligent Telecommunications Software and Multimedia School of Computer Science and Technology Beijing University of Posts and Telecommunications Beijing 100876 China School of Electronic and Information Engineering Beihang University (BUAA) Beijing 100191 China

ISBN: (纸本)9781479901777

This paper studies the problem of state estimation for jump Markov linear systems with uncompensated biases. By describing the state and the measurement biases as additive random variables, a suboptimal filter has been developed by applying the basic interacting multiple model (IMM) approach. To derive a precise representation of the biases contributions to the state estimation, three auxiliary matrices are introduced with respect to the correlation between the state estimation errors and the biases, which helps to derive mode-conditioned estimates in the framework of the IMM. A numerical example involving tracking a maneuvering target is provided to compare the performance of the proposed filter with that of the augmented state filter.

关键词： Jump Markov linear system Interacting multiple model Uncompensated bias State estimation Bias uncompensated maneuvering target Linear system interacting boson model Markov jump IMM

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Active capacitors: Concept and implementation

Active capacitors: Concept and implementation

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Qing-Chang Zhong Department of Automatic Control and Systems Engineering University of Sheffield UK

In this paper, the idea of implementing capacitors with DC/AC power converters (also called inverters) is proposed and demonstrated. Such capacitors are active capacitors. The voltage rating of an active capacitor is determined by the voltage rating of the power semiconductor devices used to build the inverter and the current rating of the capacitor is determined by the current rating of the power semiconductor devices used. The capacitance can be freely set in a very wide range and it is possible to have some special properties, e.g. to reduce harmonic current components. Experimental results are provided to demonstrate the design, implementation and performance of a prototype active capacitor. Active capacitors outperform passive capacitors in terms of tolerance, stability with respect to time and temperature.

关键词： Capacitors Inverters Capacitance Harmonic analysis Voltage measurement automatic voltage control

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A random coordinate descent method for large-scale resource allocation problems

A random coordinate descent method for large-scale resource ...

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IEEE Annual Conference on Decision and control

作者： I. Necoara University Politehnica Bucharest Automatic Control and Systems Engineering Department

ISBN: (纸本)9781467320658

In this paper we develop a randomized (block) coordinate descent method for solving singly linear equality constrained optimization problems that appear for example in resource allocation over networks. We show that for strongly convex objective functions the new algorithm has an expected linear convergence rate that depends on the second smallest eigenvalue λ_2(Q) of a matrix Q that is defined in terms of the probabilities and the number of blocks. However, the computational complexity per iteration of our method is much simpler than of a method based on full gradient information. We also focus on how to choose the probabilities to make this randomized algorithm to converge as fast as possible and we arrive at solving a sparse SDP. Finally, we present some numerical results for our method that show its efficiency on huge sparse problems.

关键词： descent method Resource utilization management of resources randomized algorithms Coordinates iterative methods Converge

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Dynamic Neuro-modelling Using Bacterial Foraging Optimisation with Fuzzy Adaptation

Dynamic Neuro-modelling Using Bacterial Foraging Optimisatio...

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International Conference on Intelligent systems, Modelling and Simulation (ISMS)

作者： H. Supriyono M.O. Tokhi Department of Automatic Control and Systems Engineering University of Sheffield UK

This paper presents current work on fuzzy adaptation of chemotactic step size of bacterial foraging algorithm and its application to optimisation of parameters of a neural network, i.e. weights, biases and slope parameters of activation function, in modelling of a single-link flexible manipulator. Experimental input-output data pairs gathered from a laboratory-scale single-link flexible manipulator rig are used both in the modelling and validating phases. Moreover, a set of correlation tests is used to validate the resulted model. The objective of the work is to assess the performances of the improved bacterial foraging algorithms in comparison to standard one based on the cost function value achieved, convergence speed, and time-domain responses.

关键词： Data models Artificial neural networks Adaptation models Manipulators Cost function Microorganisms Predictive models

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Synchronization of FitzHugh-Nagumo systems: An adaptive approach

Synchronization of FitzHugh-Nagumo systems: An adaptive appr...

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2012 8th International Conference on Natural Computation, ICNC 2012

作者： Wei, Wei Zuo, Min Liu, Zaiwen Wang, Jing Department of Automatic Control Computer and Information Engineering School Beijing Technology and Business University Beijing China National Engineering Research Center of Advanced Rolling University of Science and Technology Beijing China

ISBN: (纸本)9781457721311

In this article, synchronization of FitzHugh-Nagumo (FHN) neurons is considered. Adaptive controller based on active compensation is adopted to drive the slave neuron to track the master neuron. Sufficient condition for asymptotic stability of the close-loop system is derived. Numerical simulation results are given to confirm the adaptive controller is valid. © 2012 IEEE.

关键词： Neurons

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Closed-loop anesthesia in children using a PID controller: A pilot study

Closed-loop anesthesia in children using a PID controller: A...

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2nd IFAC Conference on Advances in PID control, PID 2012

作者： Soltesz, Kristian Van Heusden, Klaske Dumont, Guy A. Hägglund, Tore Petersen, Christian L. West, Nicholas Ansermino, J. Mark Department of Automatic Control Lund University Lund Sweden Department of Electrical and Computer Engineering University of British Columbia Vancouver Canada Department of Anesthesiology Pharmacology and Therapeutics University of British Columbia Vancouver Canada

ISBN: (纸本)9783902823182

The first study with a PID controller based automatic drug delivery system for propofol anesthesia in children is presented. It is shown that a robustly tuned PID controller is capable of delivering safe and adequate anesthesia. The design process of the control system is reviewed. Results are discussed and compared to those of two previous studies in adults.

关键词： Three term control systems

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Human genome meeting 2016 : Houston, TX, USA. 28 February - 2 March 2016

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Human genomics 2016年第1期10 Suppl 1卷 12页

作者： A. K. Srivastava Y. Wang R. Huang C. Skinner T. Thompson L. Pollard T. Wood F. Luo R. Stevenson R. Polimanti J. Gelernter X. Lin I. Y. Lim Y. Wu A. L. Teh L. Chen I. M. Aris S. E. Soh M. T. Tint J. L. MacIsaac F. Yap K. Kwek S. M. Saw M. S. Kobor M. J. Meaney K. M. Godfrey Y. S. Chong J. D. Holbrook Y. S. Lee P. D. Gluckman N. Karnani A. Kapoor D. Lee A. Chakravarti C. Maercker F. Graf M. Boutros G. Stamoulis F. Santoni P. Makrythanasis A. Letourneau M. Guipponi N. Panousis M. Garieri P. Ribaux E. Falconnet C. Borel S. E. Antonarakis S. Kumar J. Curran J. Blangero S. Chatterjee J. Akiyama D. Auer C. Berrios L. Pennacchio T. R. Donti G. Cappuccio M. Miller P. Atwal A. Kennedy A. Cardon C. Bacino L. Emrick J. Hertecant F. Baumer B. Porter M. Bainbridge P. Bonnen B. Graham R. Sutton Q. Sun S. Elsea Z. Hu P. Wang Y. Zhu J. Zhao M. Xiong David A. Bennett A. Hidalgo-Miranda S. Romero-Cordoba S. Rodriguez-Cuevas R. Rebollar-Vega E. Tagliabue M. Iorio E. D’Ippolito S. Baroni B. Kaczkowski Y. Tanaka H. Kawaji A. Sandelin R. Andersson M. Itoh T. Lassmann Y. Hayashizaki P. Carninci A. R. R. Forrest C. A. Semple E. A. Rosenthal B. Shirts L. Amendola C. Gallego M. Horike-Pyne A. Burt P. Robertson P. Beyers C. Nefcy D. Veenstra F. Hisama R. Bennett M. Dorschner D. Nickerson J. Smith K. Patterson D. Crosslin R. Nassir N. Zubair T. Harrison U. Peters G. Jarvik F. Menghi K. Inaki X. Woo P. Kumar K. Grzeda A. Malhotra H. Kim D. Ucar P. Shreckengast K. Karuturi J. Keck J. Chuang E. T. Liu B. Ji A. Tyler G. Ananda G. Carter H. Nikbakht M. Montagne M. Zeinieh A. Harutyunyan M. Mcconechy N. Jabado P. Lavigne J. Majewski J. B. Goldstein M. Overman G. Varadhachary R. Shroff R. Wolff M. Javle A. Futreal D. Fogelman L. Bravo W. Fajardo H. Gomez C. Castaneda C. Rolfo J. A. Pinto K. C. Akdemir L. Chin S. Patterson C. Statz S. Mockus S. N. Nikolaev X. I. Bonilla L. Parmentier B. King F. Bezrukov G. Kaya V. Zoete V. Seplyarskiy H. Sharpe T. McKee K. Popadin N. Basset-Seguin R. Ben Chaabene M. Andrianova C. Verdan K. Grosdemange O. Sumara M. E JCSRI Greenwood Genetic Center Greenwood USA School of Computing Clemson University Clemson USA Biochemical Genetics Laboratory Greenwood Genetic Center Greenwood USA Department Psychiatry Yale Sch Med and VA CT Healthcare Center West Haven USA Department Genetics Yale Sch Med and VA CT Healthcare Center West Haven USA Department Neurobiology Yale Sch Med and VA CT Healthcare Center West Haven USA Singapore Institute for Clinical Sciences Singapore Singapore National University of Singapore Singapore Singapore University of British Columbia Vancouver Canada KK Women’s and Children’s Hospital Singapore Singapore University of Southampton and University Hospital Southampton NHS Foundation Trust Southampton UK University of Auckland Auckland New Zealand McKusick-Nathans Institute of Genetic Medicine Johns Hopkins University School of Medicine Baltimore USA Esslingen University of Applied Sciences Esslingen Germany German Cancer Research Center Heidelberg Germany Department of Genetic Medicine and Development University of Geneva Medical School Geneva Switzerland Geneva University Hospitals-HUG Service of Genetic Medicine Geneva Switzerland GE3 Institute of Genetics and Genomics of Geneva University of Geneva Medical School Geneva Switzerland South Texas Diabetes and Obesity Institute School of Medicine University of Texas Rio-Grande Valley Edinburg USA South Texas Diabetes and Obesity Institute School of Medicine University of Texas Rio-Grande Valley Brownsville USA Institute of Genetic Medicine Johns Hopkins University Baltimore USA Genomics Division Lawrence Berkeley National Laboratory Berkeley USA Molecular and Human Genetics Baylor College of Medicine Houston USA Department of Translational Medical Sciences Federico II University Naples Italy Metabolon Inc Durham USA Section of Pediatric Neurology and Neuroscience Baylor College of Medicine Houston USA Tawam Hospital Abu Dhabi United Arab Emirates Stanford Medical School Stanford USA Sch

O1 The metabolomics approach to autism: identification of biomarkers for early detection of autism spectrum disorder A. K. Srivastava, Y. Wang, R. Huang, C. Skinner, T. Thompson, L. Pollard, T. Wood, F. Luo, R. Stevenson O2 Phenome-wide association study for smoking- and drinking-associated genes in 26,394 American women with African, Asian, European, and Hispanic descents R. Polimanti, J. Gelernter O3 Effects of prenatal environment, genotype and DNA methylation on birth weight and subsequent postnatal outcomes: findings from GUSTO, an Asian birth cohort X. Lin, I. Y. Lim, Y. Wu, A. L. Teh, L. Chen, I. M. Aris, S. E. Soh, M. T. Tint, J. L. MacIsaac, F. Yap, K. Kwek, S. M. Saw, M. S. Kobor, M. J. Meaney, K. M. Godfrey, Y. S. Chong, J. D. Holbrook, Y. S. Lee, P. D. Gluckman, N. Karnani, GUSTO study group O4 High-throughput identification of specific qt interval modulating enhancers at the SCN5A locus A. Kapoor, D. Lee, A. Chakravarti O5 Identification of extracellular matrix components inducing cancer cell migration in the supernatant of cultivated mesenchymal stem cells C. Maercker, F. Graf, M. Boutros O6 Single cell allele specific expression (ASE) IN T21 and common trisomies: a novel approach to understand DOWN syndrome and other aneuploidies G. Stamoulis, F. Santoni, P. Makrythanasis, A. Letourneau, M. Guipponi, N. Panousis, M. Garieri, P. Ribaux, E. Falconnet, C. Borel, S. E. Antonarakis O7 Role of microRNA in LCL to IPSC reprogramming S. Kumar, J. Curran, J. Blangero O8 Multiple enhancer variants disrupt gene regulatory network in Hirschsprung disease S. Chatterjee, A. Kapoor, J. Akiyama, D. Auer, C. Berrios, L. Pennacchio, A. Chakravarti O9 Metabolomic profiling for the diagnosis of neurometabolic disorders T. R. Donti, G. Cappuccio, M. Miller, P. Atwal, A. Kennedy, A. Cardon, C. Bacino, L. Emrick, J. Hertecant, F. Baumer, B. Porter, M. Bainbridge, P. Bonnen, B. Graham, R. Sutton, Q. Sun, S. Elsea O10 A novel causal methylation network approach to Alzheimer’s

关键词： Pulmonary Arterial Hypertension Oral Squamous Cell Carcinoma Deep Neural Network Autosomal Recessive Polycystic Kidney Disease Whole Genome Bisulfite Sequencing

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