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A Mixed-Depth Visual Rendering Method for Bleeding Simulation

IEEE/CAA Journal of Automatica Sinica 2019年第4期6卷 917-925页

作者： Wen Shi Peter Xiaoping Liu Minhua Zheng the School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China IEEE the Department of Systems and Computer Engineering Carleton UniversityOttawaON K1S 5B6Canada

The visual fidelity of bleeding simulation in a surgical simulator is critical since it will affect not only the degree of visual realism,but also the user’s medical judgment and treatment in real-life *** conventional marching cubes surface rendering algorithm provides excellent visual effect in rendering gushing blood,however,it is insufficient for blood flow,which is very common in surgical procedures,since in this case the rendered surface and depth textures of blood are *** this paper,we propose a new method called the mixed depth rendering for rendering blood flow in surgical simulation.A smooth height field is created to minimize the height difference between neighboring particles on the bleeding *** color and transparency of each bleeding area are determined by the number of bleeding particles,which is consistent with the real visual *** addition,there is no much extra computational *** rendering of blood flow in a variety of surgical scenarios shows that visual feedback is much *** proposed mixed depth rendering method is also used in a neurosurgery simulator that we developed.

关键词： Bleeding simulation bleeding suction rendering algorithm marching cubes mixed depth rendering

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Quaternion feedback control for rigid-body spacecraft

Quaternion feedback control for rigid-body spacecraft

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AIAA Guidance, Navigation, and control Conference and Exhibit 2001

作者： Jensen, Hans-Christian B. Wisniewski, Rafal Department of Control Engineering Institute of Electronic Systems Aalborg University 9220 Aalborg Ø Denmark

ISBN: (纸本)9781563479786

This paper addresses three-axis attitude control for a Danish spacecraft, Rømer. The algorithm proposed is based on an approximation of the exact feedback linearisation for quaternionic attitude representation. The proposed attitude controller is tested in a simulation study. The environmental disturbances correspond to those expected for the Rømer mission. The pros and cons of the algorithm are discussed. The results of the study show that the controller is a successful candidate for on-board implementation. © 2001 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： controllers

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Fault detection and isolation for spacecraft - geometric approach

Fault detection and isolation for spacecraft - geometric app...

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AIAA Guidance, Navigation, and control Conference and Exhibit 2002

作者： Jensen, Hans-Christian B. Wiśniewski, Rafal Department of Control Engineering Institute of Electronic Systems Aalborg University 9220 Aalborg Ø Denmark

ISBN: (纸本)9781624101083

This article realizes nonlinear Fault Detection and Isolation for actuators, given there is no measurement of the states in the actuators. The method uses angular velocity measurement of the spacecraft and knowledge about the dynamics of the satellite. The algorithms presented in this paper are based on a geometric approach to nonlinear Fault Detection and Isolation. The methods decouples the faults from each other, thereby making each residual robust towards the other faults. The advantages and disadvantages of the methods are discussed. © 2002 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Actuators

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Dynamic modelling of a three-axis pneumatic robot

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Transactions of the Institute of Measurement & control 1988年第1期10卷 50-56页

作者： Czarnecki, C.A. Ashworth, M.J. Towill, D.R. Department of Electrical Electronic & Control Engineering Sundedand Polytechnic United Kingdom Department of Mechanical Manufacturing Systems Engineering UWIST Cardiff United Kingdom

To serve any useful function, the model of a system must reflect the salient features of that system and reproduce, to within an acceptable degree of accuracy, the performance which is observed when it is in operation. When the system is a robot, active in three dimensions, the modelling is comparatively complex and the determination of the values to be attributed to the mechanical parameters and to the coefficients which quantify the interactive torques is far from trivial. As a prelude to the design of a controller which is effective throughout the operating envelope of the robot, the paper describes an investigation into the feasibility of simplifying the modelling procedure without incurring a penalty by way of a significant deterioration in performance prediction. If sufficiently accurate, this tentative model will form the basis of a probabilistic model of reduced complexity which will contain the uncertainty of motion which is exhibited by the robot in operation. Essentially, the estimation of the model parameters follows a two-stage process. On the assumption that the Lagrangian expressions defining a simplified mechanical configuration will describe adequately the actual motion of the robot, a preliminary estimation is made by use of a recursive least-squares technique which provides directly the coefficients of the continuous-time model. This is followed by a sequence of trials carried out on both the preliminary model and on the real system, and so arranged as to emphasise the contribution of each coefficient in turn. By comparison of their responses, the model coefficients are then tuned to achieve an acceptable matching. In addition to inherent cross-coupling, the industrial robot on which the investigation was conducted has nonlinearities introduced by way of pneumatic actuators with complex flow-rate characteristics and which operate in a bang-bang manner. The investigation has shown that the procedure is quite feasible and that the quality of respons

关键词： Modelling robot

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Pole assignment for stochastic systems with unknown coefficients

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Science China(Technological Sciences) 2000年第3期43卷 313-323页

作者：陈翰馥曹希仁 Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and System Science Chinese Academy of Sciences Beijing 100080 China Department of Electrical and Electronic Engineering Hong Kong University of Science and Technology Hong Kong

This paper solves the exact pole assignment problem for the single-input stochastic systems with unknown coefficients under the controllability assumption which is necessary and sufficient for the arbitrary pole assignment for systems with known coefficients. The system noise is required to be mutually independent with zero mean and bounded second moment. Two approaches to solving the problem are proposed: One is the iterative learning approach which can be applied when the state at a fixed time can be repeatedly observed with different feedback gains; the other is the adaptive control approach which works when the trajectories satisfy a nondegeneracy condition. Both methods are essentially based on stochastic approximation, and the feedback gains are recursively given without invoking the certainty-equivalency-principle.

关键词： stochastic system leading control pole assignment adaptive control.

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Stability control for Lateral Vehicle Motion with Uncertain Parameters and External Nonlinearities

Stability Control for Lateral Vehicle Motion with Uncertain ...

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第三十二届中国控制会议

作者： GAO Huijun SUN Weichao YIN Shen KAYNAK Okyay Research Institute of Intelligent Control and Systems Harbin Institute of Technology Electrical and Electronic Engineering Department Bogazici University

ISBN: (纸本)9781479900305

In this paper,the problem of tracking control for vehicle lateral dynamics is investigated,whose aim is to improve vehicle handling and stability,in the presence of parameter uncertainties and external *** adaptive robust controller (ARC) is designed based on backstepping technology to achieve two targets:the first one is to control the sideslip angle as small as possible;and the second one is to keep the real yaw rate tracking the desired yaw *** addition,to overcome the problem of "explosion of complexity" caused by backstepping method in the traditional ARC design,the filtering technique is used to estimate the derivative of the virtual ***,a nonlinear vehicle model is employed as the design example to illustrate the effectiveness of the proposed control laws.

关键词： Vehicle Lateral Dynamics Adaptive control Robust control

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Cooperation and distributed optimization for the unreliable wireless game with indirect reciprocity

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Science China(Information Sciences) 2017年第11期60卷 129-145页

作者： Changbing TANG Xiang LI Zhen WANG Jianmin HAN College of Mathematics Physics and Information Engineering Zhejiang Normal University Adaptive Networks and Control Lab Department of Electronic EngineeringFudan University Research Center of Smart Networks and Systems Fudan University School of Cyberspace Hangzhou Dianzi University

Cooperation in packet forwarding among users and operators of a distributed wireless network has been widely studied. However, because of the limited computational resources, users in wireless communication do not prefer to cooperate with others unless cooperation may improve their own performance. Therefore, the key problem in cooperation enforcement must be solved first to enable a wireless network to be efficient. Yet,most of the existing game-theoretic cooperation stimulation approaches assume that the interactions between any pair of players(users) are long-lasting. In this paper, we apply game theory to optimize the communication efficiency of a distributed wireless network with finite number of interactions between any pair of players. Based on the mechanism of indirect reciprocity, we theoretically analyze the optimal action rule with the method of dynamic programming, and derive the approximate threshold of benefit-to-cost ratio to achieve the optimal action rule. Furthermore, we adopt the replicator dynamics to assess the evolutionary stability of the optimal action rule against the perturbation effect. Numerical illustrations verify the performance of the proposed method on wireless cooperation.

关键词： wireless cooperation distributed optimization game theory indirect reciprocity optimal action evolutionary stability

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Synchronous control of H-type Linear Motor System via Super-Twisting Sliding Mode

Synchronous Control of H-type Linear Motor System via Super-...

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2024 China Automation Congress, CAC 2024

作者： Liu, Jiawei Li, Xiaolei Tang, Feilong Kui, Qixin Spasic, Miodrag D. Department of Control Science and Engineering Harbin Institute of Technology Harbin China Department of Control Systems Faculty of Electronic Engineering University of Nis Nis Serbia

ISBN: (纸本)9798350368604

In this paper, a synchronous control strategy based on super-twisting sliding mode algorithm is proposed to enhance the tracking accuracy and robustness of H-type linear motor systems. Such systems are widely utilized in precision manufacturing owing to their high precision and fast response. Firstly, the dynamic model is established based on the coupling dynamics analysis of the H-type system. Secondly, a super-twisting sliding mode controller (STSMC) with linear terms is designed, which effectively reduces the chattering associated with conventional sliding mode control, while maintaining good robustness. Thirdly, a super-twisting extended state observer (STESO) is introduced to handle large fluctuations in the early estimation process of linear extended state observer (LESO), so as to effectively observe and compensate the uncertainties and external disturbances. Finally, experimental results demonstrate that the STESO-based STSMC greatly improves the anti-disturbance ability and tracking accuracy of the H-type system. © 2024 IEEE.

关键词： Sliding mode control

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PSO optimized PID parameters for coupled HVDC control

PSO optimized PID parameters for coupled HVDC control

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IET Irish Signals and systems Conference, ISSC 2010

作者： McNamara, P. Lightbody, G. Control and Intelligent Systems Group Department of Electronic Engineering University College Ireland Cork Ireland

ISBN: (纸本)9781849192521

High Voltage Direct Current (HVDC) systems are used in power systems for the efficient transfer of energy over long distances and can improve the stability and performance of electrical networks. Using the internal node representation, the dynamics of a system with HVDC links can be represented in terms of the internal currents of the generators of the system and this representation can be used to control the system frequency. Here the control of a multiple HVDC link system, modelled using this representation, is improved using Particle Swarm Optimization, PSO.

关键词： Particle swarm optimization (PSO)

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Detection of Oscillations in Process control Loops From Visual Image Space Using Deep Convolutional Networks

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IEEE/CAA Journal of Automatica Sinica 2024年第4期11卷 982-995页

作者： Tao Wang Qiming Chen Xun Lang Lei Xie Peng Li Hongye Su the Department of Electronic Engineering the School of InformationYunnan UniversityKunming 650091China DAMO Academy Alibaba GroupHangzhou 311100China the State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang UniversityHangzhou 310027China

Oscillation detection has been a hot research topic in industries due to the high incidence of oscillation loops and their negative impact on plant *** numerous automatic detection techniques have been proposed,most of them can only address part of the practical *** oscillation is heuristically defined as a visually apparent periodic ***,manual visual inspection is labor-intensive and prone to missed *** neural networks(CNNs),inspired by animal visual systems,have been raised with powerful feature extraction *** this work,an exploration of the typical CNN models for visual oscillation detection is ***,we tested MobileNet-V1,ShuffleNet-V2,Efficient Net-B0,and GhostNet models,and found that such a visual framework is well-suited for oscillation *** feasibility and validity of this framework are verified utilizing extensive numerical and industrial *** with state-of-theart oscillation detectors,the suggested framework is more straightforward and more robust to noise and *** addition,this framework generalizes well and is capable of handling features that are not present in the training data,such as multiple oscillations and outliers.

关键词： Convolutional neural networks(CNNs) deep learning image processing oscillation detection process industries

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