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第41届中国控制会议

作者： Guancheng Ren Zuo Wang Shihua Li School of Automation Southeast University Key Laboratory of Measurement and Control of Complex systems of Engineering Ministry of Education Shenzhen Research Institute Southeast University

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

In the biaxial motion system,nonlinearities and mismatched disturbances always have adverse effects on the contouring accuracy,which are often *** of existing advanced control methods are developed only to suppress matched *** this paper,the necessity of taking the contour error as the control target is ***,four generalized proportional integral observers(GPIOs) are developed to estimate both matched and mismatched lumped ***,based on contour error,a sliding mode controller is developed for the biaxial motion *** introducing the disturbance estimations into the modified sliding surface design,a composite controller is *** proposed method effectively improves the contouring accuracy and suppress the mismatched disturbances,while the chattering caused by large switching gains is *** stability analysis of the system is established by means of the Lyapunov ***,to demonstrate the superiority and effectiveness of the controller,simulation results of the biaxial motion control system are presented in various working cases.

关键词： Biaxial motion control system contouring control mismatched disturbances generalized proportional-integral observer(GPIO) sliding mode control chattering reduction

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Batch-to-Batch Optimization with Model Adaptation Leveraging Gaussian Processes: The Case of Optogenetically Assisted Microbial Consortia 23

Batch-to-Batch Optimization with Model Adaptation Leveraging...

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23rd International Conference on control, automation and systems, ICCAS 2023

作者： Espinel-Rios, Sebastian Kok, Rudolph Klamt, Steffen Avalos, Jose L. Findeisen, Rolf Analysis and Redesign of Biological Networks Max Planck Institute for Dynamics of Complex Technical Systems Magdeburg Germany Princeton University Department of Chemical and Biological Engineering Princeton United States Institute for Automation Engineering Otto von Guericke University Magdeburg Magdeburg Germany Control and Cyber-Physical Systems Laboratory TU Darmstadt Germany

ISBN: (纸本)9788993215274

Microbial consortia are promising biotechnological production systems with the potential to divide complex metabolic pathways into smaller submodules, as well as make products and consume substrates that monocultures cannot. Maintaining optimal cell population levels and preventing mono culture formation challenge bioproduction by microbial consortia. Optogenetics allows for regulating the expression of key growth-regulatory genes through light to modulate cell population levels. Model-based dynamic optimization can determine optimal light trajectories and inoculum sizes that maximize product synthesis while satisfying system constraints, e.g., safety, economic, or technical aspects. Further-more, closed-loop dynamic optimization can address system uncertainty to a certain extent;however, its implementation is challenging due to limited online sensors. Alternatively, here we propose to perform open-loop optimization with batch-to-batch model adaptation based on Gaussian processes for maximizing bioproduction by optogenetically assisted consortia. The proposed approach enables knowledge transfer from existing to new models, improving predictability and optimization performance in each batch while avoiding costly and time-consuming modeling experiments. Compared to closed-loop optimization, this strategy is easier to implement as it does not rely on online monitoring, contributing to the state of the art in optimizing bioproduction by microbial consortia. We outline the applicability of the approach using simulation experiments of an optogenetically assisted consortium for the biosynthesis of the flavonoid naringenin, considering both parameter and model structure uncertainty. © 2023 ICROS.

关键词： Substrates

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High-precision flexible sweat self-collection sensor for mental stress evaluation

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npj Flexible Electronics 2024年第1期8卷 417-426页

作者： Chenhao Wang Zhengyu Wang Wei Wei Zhenjie Zhang Anne Ailina Li Guanghao Huang Xian Li Shuzhi Sam Ge Lianqun Zhou Hui Kong Institute for Future School of AutomationShandong Key Laboratory of Industrial Control TechnologyQingdao UniversityQingdao266071China ETH Zürich Department of Biosystems Science and EngineeringBio Engineering LaboratoryBasel4056Switzerland The University of Sydney 2006 SydneyAustralia Natl Univ Singapore Dept Elect&Comp EngnSingapore117576Singapore Suzhou Institute of Biomedical Engineering and Technology Chinese.Academy of SciencesSuzhou215163China

As a stress hormone existing in the human body,cortisol can reflect the psychological stress and health status in daily life,and is a potential biomarker of the body’s stress *** effectively collect sweat and accurately identify the target,this paper reports a flexible wearable cortisol detection device with outstanding reliability and *** imprinted polymer(MIP)ensures cortisol *** carbon nanotubes(CNT)on electrodes increase sensitivity,expanding the detection range to 10^(−3) to 10^(4) nM,with sensitivity at 189.2 nA/lg(nM).In addition,porous chitosan hydrogel(PCSH)collects sweat effectively,its adhesive properties and 80%swelling rate offer a low-cost alternative to *** printed circuit board(FPCB)and serpentine electrode(SE)ensure device *** non-invasive,highly sensitive device offers a novel method for mental stress monitoring and clinical diagnosis,advancing human physiological state monitoring.

关键词： stress durability swelling

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Scalable and Low-Cost Remote Lab Platforms: Teaching Industrial Robotics Using Open-Source Tools and Understanding Its Social Implications 16th

Scalable and Low-Cost Remote Lab Platforms: Teaching Indust...

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16th International Conference on Social Robotics, ICSR + AI 2024

作者： Kumar, Amit Jose, Jaison Jain, Archit Kulkarni, Siddharth Arya, Kavi Centre for Systems and Control Indian Institute of Technology Bombay Mumbai India Embedded Real-Time Systems / e-Yantra Lab Indian Institute of Technology Bombay Mumbai India Computer Science and Engineering Department Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9789819635214

With recent advancements in industrial robots, educating students in new technologies and preparing them for the future is imperative. However, access to industrial robots for teaching poses challenges, such as the high cost of acquiring these robots, the safety of the operator and the robot, and complicated training material. This paper proposes two low-cost platforms built using open-source tools like Robot Operating System (ROS) and its latest version ROS 2 to help students learn and test algorithms on remotely connected industrial robots. Universal Robotics (UR5) arm and a custom mobile rover were deployed in different life-size testbeds, a greenhouse, and a warehouse to create an Autonomous Agricultural Harvester System (AAHS) and an Autonomous Warehouse Management System (AWMS). These platforms were deployed for a period of 7 months and were tested for their efficacy with 1,433 and 1,312 students, respectively. The hardware used in AAHS and AWMS was controlled remotely for 160 and 355 hours, respectively, by students over a period of 3 months. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Costs

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Skeleton-based Action Recognition Using Two-stream Graph Convolutional Network with Pose Refinement 41

Skeleton-based Action Recognition Using Two-stream Graph Con...

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第41届中国控制会议

作者： Biao Zheng Luefeng Chen Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Electrical and Computer Engineering University of Alberta Tokyo Institute of Technology

ISBN: (数字)9789887581536

ISBN: (纸本)9781665482561

With the development of science and technology,graph convolutional network has made great progress in improving the accuracy of action ***,there still exists some deficiencies in current ***,the human skeleton point coordinates entering into the network are barely refined,which may cause large ***,the second-order information(the length and direction of bones),which can reflect action characteristics discriminatively,is rarely *** solve the above issues,a two stream graph convolutional network with pose refinement for skeleton based action recognition is ***,we use an adaptive block to to help improve the *** test our method on Kinetics dataset and the experiment show it can get better results than some recent methods,which plays a positive role in future research.

关键词： Graph convolutional network Pose refinement Skeleton based action recognition Adaptive block

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Towards Efficient Path Finding and Moving Stability-Focused Trajectory Planning for Mobile Robots

Towards Efficient Path Finding and Moving Stability-Focused ...

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2024 IEEE International Conference on Robotics and Biomimetics, ROBIO 2024

作者： Hou, Muyang Lei, Zhenya Hu, Haidong Wang, Zhong Wang, Yong Xie, Le Wang, Hesheng Shanghai Jiao Tong University Department of Automation Shanghai200240 China School of Information and Control Engineering China University of Mining and Technology Xuzhou221116 China Beijing Institute of Control Engineering Beijing100190 China Institute of Medical Robotics Shanghai Jiao Tong University Shanghai200240 China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Key Laboratory of Marine Intelligent Equipment and System of Ministry of Education Department of Automation Shanghai200240 China

ISBN: (纸本)9781665481090

Nowadays, mobile robots play an important role in a variety of service scenarios. They need to plan and track trajectories to accomplish tasks such as delivery or guided tours. In such tasks, there are two remaining challenges: on one hand, the time and memory consumption of present path planners are still significant;on the other hand, service robots, which have a higher center of gravity, demand greater moving stability than that of current trajectory planners provide. To address these two challenges. Firstly, we propose a safety boundary first A∗ which fully utilizes environmental obstacle information to create a safety boundary and searches in it to quickly find an initial path. Secondly, we formulate the trajectory optimization problem as a nonlinear optimization problem, where the smoothness, safety, feasibility, and moving stability of the robot are taken into account. Furthermore, to constrain the robot's lateral acceleration, we design a time allocation algorithm based on non-uniform B-spline, enhancing the quality of the resulting trajectory. Simulations and real-world experiments demonstrate that our algorithms significantly improve path search efficiency, enhance moving stability, reduce the difficulty of tracking, and improve the quality of task completion. © 2024 IEEE.

关键词： Trajectories

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Relationship Between Mechanical Deformation and Contact Force Applied by Catheter Tip on Cardiac Muscle: Experimentation and Computer Modeling 5

Relationship Between Mechanical Deformation and Contact Forc...

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5th IEEE Eurasia Conference on Biomedical engineering, Healthcare and Sustainability, ECBIOS 2023

作者： Ijima, Yukako Masnok, Kriengsak Perez, Juan J. Gonzalez-Suarez, Ana Berjano, Enrique Watanabe, Nobuo Master's Program Global Course of Engineering and Science Graduate School of Engineering and Science Shibaura Institute of Technology Saitama Japan Functional Control Systems Graduate School of Engineering and Science Shibaura Institute of Technology Biofluid Science and Engineering Laboratory Saitama Japan Universitat Politecnica de Valencia BioMIT Department of Electronic Engineering Valencia Spain School of Engineering University of Galway Translational Medical Device Lab Galway Ireland Functional Control Systems Graduate School of Engineering and Science College of Systems Engineering and Science Shibaura Institute of Technology Biofluid Science and Engineering Laboratory Department of Bio-Science and Engineering Saitama Japan

ISBN: (纸本)9798350320978

The cardiac muscle is elastic and deformable. Pushing a catheter in contact with the cardiac muscle surface to conduct focal energy-based ablative therapies, such as RF ablation, requires an adequate electrode-tissue contact surface to transfer the energy to the target site. In this regard, the relationship between the contact force (CF) and the resulting mechanical response is still unclear, in particular, the insertion depth (ID) and the diameter of the surface deformation. The objective of this study was to quantify these relationships using an ex vivo model and a computational model. A rigid bar with a 2.3 mm diameter blunt tip (mimicking a 7Fr standard ablation catheter) was placed at a perpendicular orientation on a fragment of the porcine heart. CF values ranged from 10 to 80g. We used ANSYS to build a Mooney-Rivlig model of 3 parameters based on hyperelastic material and to simulate the same conditions as in the experiments. The experimental results showed a strong linear correlation between CF and insertion depth ID ($\mathrm{R}^{2}=0.97, \mathrm{P} © 2023 IEEE.

关键词： Catheters

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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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Polynomial Fuzzy Observer-Based Feedback control for Nonlinear Hyperbolic PDEs systems

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IEEE Transactions on Cybernetics 2024年第9期54卷 5257-5269页

作者： Tsai, Shun-Hung Lee, Wen-Hsin Tanaka, Kazuo Chen, Ying-Jen Lam, Hak-Keung National Sun Yat-sen University Department of Electrical Engineering Kaohsiung80424 Taiwan Graduate Institute of Automation Technology National Taipei University of Technology Taipei10608 Taiwan The University of Electro-Communications Department of Mechanical Engineering and Intelligent Systems Tokyo182-8585 Japan Yuan Ze University Department of Electrical Engineering Taoyuan City32003 Taiwan King's College London Department of Engineering LondonWC2R 2LS United Kingdom

This article explores the observer-based feedback control problem for a nonlinear hyperbolic partial differential equations (PDEs) system. Initially, the polynomial fuzzy hyperbolic PDEs (PFHPDEs) model is established through the utilization of the fuzzy identification approach, derived from the nonlinear hyperbolic PDEs model. Various types of state estimation and controller design problems for the polynomial fuzzy PDEs system are discussed concerning the state estimation problem. To investigate the relaxed stability problem, Euler's homogeneous theorem, Lyapunov-Krasovskii functional with polynomial matrices (LKFPM), and the sum-of-squares (SOSs) approach are adopted. The exponential stabilization condition is formulated in terms of the spatial-derivative-SOSs (SD-SOSs). Additionally, a segmental algorithm is developed to find the feasible solution for the SD-SOS condition. Finally, a hyperbolic PDEs system and several numerical examples are provided to illustrate the validity and effectiveness of the proposed results. © 2013 IEEE.

关键词： Stability criteria

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FABLE: A Bundle Method For Federated Learning In Wireless systems

FABLE: A Bundle Method For Federated Learning In Wireless Sy...

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2025 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2025

作者： Cederberg, Daniel Larsson, Erik G. Johansson, Mikael Department of Electrical Engineering Stanford University Stanford United States Department of Electrical Engineering Linköping University Linköping Sweden Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden

ISBN: (纸本)9798350368741

This paper presents a comprehensive approach to federated learning in wireless networks. We discuss communication strategies that address packet loss and bitrate limitations in both uplink and downlink transmissions, and introduce FABLE, a novel optimization algorithm designed to operate effectively under these network constraints. The algorithm also supports non-smooth regularizers and accommodates heterogeneous data distributions across clients. We provide theoretical convergence guarantees under gradient compression and asynchronous operation, and demonstrate the efficiency of our approach through numerical experiments. © 2025 IEEE.

关键词： Federated learning optimization algorithms wireless communications

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