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LPV-based control for automated driving using data-driven methods

IFAC-PapersOnLine 2020年第2期53卷 13898-13903页

作者： Dániel Fényes Balázs Németh Péter Gáspár Department of Control for Transportation and Vehicle Systems Budapest University of Technology and Economics Stoczek u. 2 H-1111 Budapest Hungary Institute for Computer Science and Control Kende u. 13-17 H-1111 Budapest Hungary

This paper presents a data-driven modeling approach and control design for automated driving purposes. The parameters of the control-oriented polytopic model is tuned using machine-learning algorithm in a Linear Parameter Varying (LPV) structure. The control of the automated driving is designed based on the LPV control synthesis method, with which the performances of the system are guaranteed. Through the automated driving system the steering intervention is performed, while the maximization of the longitudinal velocity in a predicted safety region is achieved. The operation and the effectiveness of the proposed control system is demonstrated through a comprehensive simulation example using the high-fidelity simulation software CarSim.

关键词： autonomous vehicle control data-driven modeling LPV control design decision tree

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Fuzzy systems in management and information science

Fuzzy systems in management and information science

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作者： Merigó, José M. Linares-Mustaros, Salvador Ferrer-Comalat, Joan Carles Department of Management Control and Information Systems School of Economics and Business University of Chile Av. Diagonal 257 Santiago8330015 Chile School of Systems Management and Leadership Faculty of Engineering and Information Technology University of Technology Sydney UltimoNSW2007 Australia Department of Business Administration University of Girona Campus Montilivi University of Girona street 10 Girona. Catalonia17071 Spain

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A Novel Two-Stage Framework for 2D/3D Registration in Neurological Interventions

A Novel Two-Stage Framework for 2D/3D Registration in Neurol...

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IEEE International Conference on Robotics and Biomimetics

作者： De-Xing Huang Xiao-Hu Zhou Xiao-Liang Xie Shi-Qi Liu Zhen-Qiu Feng Jian-Long Hao Zeng-Guang Hou Ning Ma Long Yan The State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing China The School of Information Shanxi University of Finance and Economics Taiyuan China The CAS Center for Excellence in Brain Science and Intelligence Technology Beijing China The Joint Laboratory of Intelligence Science and Technology Institute of Systems Engineering Macau University of Science and Technology Taipa Macau The Department of Interventional Neuroradiology Beijing Tiantan Hospital Capital Medical University Beijing China

ISBN: (纸本)9781665481106

2D/3D medical image registration of pre-operative volumes and intra-operative images plays an important role in neurological interventions. However, vast space of transformation parameters makes this task incredibly challenging. In this paper, a novel two-stage framework for 2D/3D registration is proposed. It consists of two basic modules: CNN regression for preliminarily estimating transformation parameters, and centroid alignment for further reducing estimation errors to get refined images. Experimental results on two patients show the proposed framework can achieve superior performances to baseline methods with an inference rate of 22 FPS, satisfying real-time requirements (6~12 FPS) in clinical practice. Extensive ablation studies prove the effectiveness of centroid alignment in significantly improving registration accuracies. These promising results indicate the framework has the potential to be integrated into navigation frameworks for neurological interventions, facilitating treatments of physicians.

关键词： Image registration Estimation error Three-dimensional displays Navigation Biomimetics Medical services Real-time systems

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The Resistive Ground Fault of PWM Voltage Inverter In The EV Charging Station

Research Square

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Research Square 2021年

作者： Zurek-Mortka, Marta Szymanski, Jerzy Ryszard Lukasiewicz Research Network – Institute for Sustainable Technologies Department of Control Systems Radom26-600 Poland Kazimierz Pulaski University of Technology and Humanities Faculty of Transport Electrical Engineering and Computer Science Radom26-600 Poland

During the direct touch of the inverter output voltage, the nonsinusoidal ground currents with a basic harmonic frequency between 1.5 kHz and 16 kHz, flow via a human’s body. Here was proved that Residual Current Device (RCD) type AC/I∆n = 30 mA does not switch off the power supply when a ground current with a value of about some hundred milliamps occurs. Because RCDs do not disconnect the power supply, the touch on the inverter’s voltage is dangerous to the health and life. For the authors, RCD usage in Voltage Frequency Converters is not a good engineer practice. The article presents tests of RCD operation in the event of a ground fault during EV battery charging. © 2021, CC BY.

关键词： Charging (batteries)

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Loop-shaping for reset control systems a higher-order sinusoidal-input describing functions approach

arXiv

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arXiv 2020年

作者： Saikumar, Niranjan Heinen, Kars HosseinNia, S. Hassan Department of Precision and Micro System Engineering Delft University of Technology Netherlands Delft Center for Systems and Control Delft University of Technology Netherlands

The ever-growing demands on speed and precision from the precision motion industry have pushed control requirements to reach the limitations of linear control theory. Nonlinear controllers like reset provide a viable alternative since they can be easily integrated into the existing linear controller structure and designed using industry-preferred loop-shaping techniques. However, currently, loop-shaping is achieved using the describing function (DF) and performance analysed using linear control sensitivity functions not applicable for reset control systems, resulting in a significant deviation between expected and practical results. We overcome this major bottleneck to the wider adaptation of reset control with two contributions in this paper. First, we present the extension of frequency-domain tools for reset controllers in the form of higher-order sinusoidal-input describing functions (HOSIDFs) providing greater insight into their behaviour. Second, we propose a novel method which uses the DF and HOSIDFs of the open-loop reset control system for the estimation of the closed-loop sensitivity functions, establishing for the first time - the relation between open-loop and closed-loop behaviour of reset control systems in the frequency domain. The accuracy of the proposed solution is verified in both simulation and practice on a precision positioning stage and these results are further analysed to obtain insights into the tuning considerations for reset controllers. Copyright © 2020, The Authors. All rights reserved.

关键词： Linear control systems

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Safe Feedback Motion Planning in Unknown Environments: An Instantaneous Local control Barrier Function Approach

arXiv

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arXiv 2021年

作者： Li, Cong Zhang, Zengjie Nesrin, Ahmed Liu, Qingchen Liu, Fangzhou Buss, Martin Technical University of Munich Theresienstr. 90 Munich80333 Germany Department of Electrical Engineering Eindhoven University of Technology Eindhoven5600 MB Netherlands Department of Automation University of Science and Technology of China Hefei230027 China Research Institute of Intelligent Control and Systems Harbin Institute of Technology Harbin150001 China

Mobile robots are desired with resilience to safely interact with prior-unknown environments and finally accomplish given tasks. This paper utilizes instantaneous local sensory data to stimulate the safe feedback motion planning (SFMP) strategy with adaptability to diverse prior-unknown environments without building a global map. This is achieved by the numerical optimization with the constraints, referred to as instantaneous local control barrier functions (IL-CBFs) and goal-driven control Lyapunov functions (GD-CLFs), learned from perceptional signals. In particular, the IL-CBFs reflecting potential collisions and GD-CLFs encoding incrementally discovered subgoals are first online learned from local perceptual data. Then, the learned IL-CBFs are united with GD-CLFs in the context of quadratic programming (QP) to generate the safe feedback motion planning strategy. Rather importantly, an optimization over the admissible control space of IL-CBFs is conducted to enhance the solution feasibility of QP. The SFMP strategy is developed with theoretically guaranteed collision avoidance and convergence to destinations. Numerical simulations are conducted to reveal the effectiveness of the proposed SFMP strategy that drives mobile robots to safely reach the destination incrementally in diverse prior-unknown environments. Copyright © 2021, The Authors. All rights reserved.

关键词： Lyapunov functions

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Optical Imaging of Epigenetic Modifications in Cancer:A Systematic Review

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Phenomics 2022年第2期2卷 88-101页

作者： Yang Du Pei Zhang Wei Liu Jie Tian CAS Key Laboratory of Molecular Imaging Beijing Key Laboratory of Molecular Imagingthe State Key Laboratory of Management and Control for Complex SystemsInstitute of AutomationChinese Academy of SciencesBeijing 100190China The University of Chinese Academy of Sciences Beijing 100049China Key Laboratory of Carcinogenesis and Translational Research(Ministry of Education/Beijing) Department of Supportive Care Center and Day Oncology UnitPeking University Cancer Hospital and InstituteBeijing 100142China Beijing Advanced Innovation Center for Big Data-Based Precision Medicine School of MedicineBeihang UniversityBeijing 100191China School of Life Science and Technology Xidian UniversityXi’an 710071ShaanxiChina

Increasing evidence has demonstrated that abnormal epigenetic modifications are strongly related to cancer ***,sensitive and specific detection of epigenetic modifications could markedly improve biological investigations and cancer precision medicine.A rapid development of molecular imaging approaches for the diagnosis and prognosis of cancer has been observed during the past few *** biomarkers unique to epigenetic modifications and targeted imaging probes have been characterized and used to discriminate cancer from healthy tissues,as well as evaluate therapeutic *** this study,we summarize the latest studies associated with optical molecular imaging of epigenetic modification targets,such as those involving DNA methylation,histone modification,noncoding RNA regulation,and chromosome remodeling,and further review their clinical application on cancer diagnosis and ***,we further propose the future direc-tions for precision imaging of epigenetic modification in *** by promising clinical and preclinical studies associated with optical molecular imaging technology and epigenetic drugs,the central role of epigenetics in cancer should be increasingly recognized and accepted.

关键词： Epigenetic modification Optical imaging Cancer Imaging probe

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Editorial: Characterization and application of magneto-sensitive soft materials

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Frontiers in Materials 2023年 10卷

作者： Zhang, Zhili Li, Decai Yu, Miao Niu, Xiaodong Li, Weihua Institute of Magnetic Fluids School of Mechanical Electronic and Control Engineering Beijing Jiaotong University Beijing China State Key Laboratory of Tribology Tsinghua University Beijing China Key Laboratory for Optoelectronic Technology and Systems Ministry of Education College of Optoelectronic Engineering Chongqing University Chongqing China Department of Mechanical Engineering College of Engineering Shantou University Shantou China School of Mechanical Materials Mechatronic and Biomedical Engineering University of Wollongong WollongongNSW Australia

Magnetic fluids are nanocolloids made up of nanometer-sized ferromagnetic particles dispersing in a carrier liquid (typically comprises three parts: base carrier liquid, surfactant, and ferromagnetic particles). Since the particles are easier to agglomerate, ferromagnetic particles are typically coated with surfactants to prevent agglomeration. Magnetic nanoparticles are uniformly disseminated in the carrier liquid with the assistance of surfactants, which play a crucial role in the magnetic fluid composition. Li et al. systematically studied the coating state and colloidal stability of oleic acid (OA) and 3-(N,N-Dimethylmyristylammonio) propanesulfonate (DP) coated magnetite nanoparticles in the polar and apolar carrier liquid. The total Gibbs interfacial energy was analyzed based on Van Oss-Chaudhry-Good and DLVO theory to describe the behaviors of coated particles in solvents. Zang et al. studied the effect of different fatty acids as surfactants on the rheological properties of magnetic fluids. The results showed that the mixed fatty acids showed greater viscosity growth and a greater slope of the viscosity growth curve than the magnetic fluids dispersed with a single acid. This indicates that the mixed fatty acids have more stable rheological properties. The viscousity-temperature performance of kerosene-base magnetic fluids at low temperatures can be improved by adjusting the ratio of mixed fatty acids. The most typical application of magnetic liquids is sealing, which has the outstanding advantages of zero leakage, long life and low resistance. Magnetic fluid seals as a class of non-contact sealing technology have been a research focus. In order to solve the problem of the pole shoes in the ferrofluid seal are easily damaged under the situation of the large radial beating of the main shaft. Liu et al. proposed a new structure of the ferrofluid seal that use a redial-changed ring magnet as the magnetic source. Considering that the ring magnets have problems o

关键词： magnetic fluids (MF) magnetorheological fluids (MRF) magneto-sensitive soft materials non-contact sealing torsional vibration damper intelligent material energy absorber

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Communication Compression for Distributed Nonconvex Optimization

arXiv

引用

arXiv 2022年

作者： Yi, Xinlei Zhang, Shengjun Yang, Tao Chai, Tianyou Johansson, Karl H. Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Digital Futures Stockholm100 44 Sweden Department of Electrical Engineering University of North Texas DentonTX76203 United States State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China

This paper considers distributed nonconvex optimization with the cost functions being distributed over agents. Noting that information compression is a key tool to reduce the heavy communication load for distributed algorithms as agents iteratively communicate with neighbors, we propose three distributed primal–dual algorithms with compressed communication. The first two algorithms are applicable to a general class of compressors with bounded relative compression error and the third algorithm is suitable for two general classes of compressors with bounded absolute compression error. We show that the proposed distributed algorithms with compressed communication have comparable convergence properties as state-of-the-art algorithms with exact communication. Specifically, we show that they can find first-order stationary points with sublinear convergence rate O(1/T) when each local cost function is smooth, where T is the total number of iterations, and find global optima with linear convergence rate under an additional condition that the global cost function satisfies the Polyak–Lojasiewicz condition. Numerical simulations are provided to illustrate the effectiveness of the theoretical results. Copyright © 2022, The Authors. All rights reserved.

关键词： Iterative methods

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Systematic evaluation of IgG responses to SARS-CoV-2 spike protein-derived peptides for monitoring COVID-19 patients

引用

Cellular & Molecular Immunology 2021年第3期18卷 621-631页

作者： Yang Li Dan-yun La Qing Lei Zhao-wei Xu Feng Wang Hongyan Hou Lingyun Chen Jiaoxiang Wu Yan Ren Ming-liang Ma Bo Zhang Hong Chen Caizheng Yu Jun-biao Xue Yun-xiao Zheng Xue-ning Wang He-wei Jiang Hai-nan Zhang Huan Qi Shu-juan Guo Yandi Zhang Xiaosong Lin Zongjie Yao Pengfei Pang Dawei Shi Wei Wang Xiao Yang Jie Zhou Huiming Sheng Ziyong Sun Hong Shan Xionglin Fan Sheng-ce Tao Shanghai Center for Systems Biomedicine Key Laboratory of Systems Biomedicine(Ministry of Education)Shanghai Jiao Tong UniversityShanghaiChina Department of Pathogen Biology School of Basic MedicineTongji Medical CollegeHuazhong University of Science and TechnologyWuhanChina Key Laboratory of Gastrointestinal Cancer(Fujian Medical University) Ministry of EducationSchool of Basic Medical SciencesFujian Medical UniversityFuzhouChina Department of Clinical Laboratory Tongji HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhanChina SBGI Education Center University of Chinese Academy of SciencesShenzhen 518083China Tongren Hospital Shanghai Jiao Tong University School of MedicineShanghaiChina BGI-Shenzhenf Shenzhen 518083 China Department of Public Health Tongji HospitalTongji Medical CollegeHuazhong University of Science and TechnologyWuhanChina Center for Interventional Medicine The Fifth Affiliated Hospital of Sun Yat-sen UniversityZhuhai 519000China National Institutes for Food and Drug Control Beijing 100050China Foshan Fourth Peopled Hospital Foshan 528000China Key Laboratory of RNA Biology Institute of BiophysicsChinese Academy of SciencesBeijing 100101China

Serological tests play an essential role in monitoring and combating the COVID-19 *** spike protein(S protein),especially the S1 protein,is one of the major reagents used for serological ***,the high cost of S protein production and possible cross-reactivity with other human coronaviruses pose unavoidable *** taking advantage of a peptide microarray with full spike protein coverage,we analyzed 2,434 sera from 858 COVID-19 patients,63 asymptomatic patients and 610 controls collected from multiple clinical *** on the results,we identified several S protein-derived 12-mer peptides that have high diagnostic *** particular,for monitoring the IgG response,one peptide(aa 1148-1159 or S2-78)exhibited a sensitivity(95.5%,95%CI 93.7-96.9%)and specificity(96.7%,95%CI 94.8-98.0%)comparable to those of the S1 protein for the detection of both symptomatic and asymptomatic COVID-19 ***,the diagnostic performance of the S2-78(aa 1148-1159)IgG was successfully validated by ELISA in an independent sample cohort.A panel of four peptides,S1-93(aa 553-564),S1-97(aa 577-588),S1-101(aa 601-612)and S1-105(aa 625-636),that likely will avoid potential cross-reactivity with sera from patients infected by other coronaviruses was *** peptides identified in this study may be applied independently or in combination with the S1 protein for accurate,affordable,and accessible COVID-19 diagnosis.

关键词： SARS-CoV-2 Spike peptide Antibody Diagnosis

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