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World Congress on Intelligent control and Automation (WCICA)

作者： Lili Zhao Xiuliang Li Ping Li State Key Lab of Industrial Control Technology Institute of Industrial Process Control Zhejiang University 310027 China State Key Lab of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University 310027 China

For a class of uniformly observable nonlinear multi-input-multi-output (MIMO) systems with unknown parameters in both state and output equations, an adaptive observer is designed in a constructive manner based on the techniques of high gain observer and adaptive estimation. The high gain adaptive observer for joint state and unknown parameter estimation is conceptually simple. The new algorithm makes use of a time varying gain matrix for unknown parameter estimation, which simplifies the initialization and parameter tuning. In order to establish the global exponential convergence of the adaptive observer, a persistent excitation condition is required. Consequently, the global exponential convergence for simultaneous estimation of states and unknown parameters is formally established following a simple procedure. A numerical example is presented to illustrate the performance of this adaptive observer.

关键词： Equations Observers Adaptive systems Nonlinear systems Symmetric matrices Parameter estimation Mathematical model

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A comparative study of model plant mismatch measures for process monitoring

A comparative study of model plant mismatch measures for pro...

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第23届过程控制会议

作者： Hong Wang Lei Xie Zhihuan Song State Key Laboratory of Industrial Control Technology Institute ofIndustrial Process Control Zheji Institute of Cyber-Systems and Control Zhejiang UniversityHangzhou 310027 Zhejiang China

Model is usually necessary for the design of a control loop. Due to *** and unknown dynamics, model plant mismatch is inevitable in the control loop. In process monitoring, detection of the mismatch and evaluation of its *** are both demanded. In this paper we .rstly present several mismatch measures based on *** model descriptions. Then we categorize them into *** groups from *** perspectives and compare their potential in detection and diagnosis. A case study on a mixing process is presented and some remarks on related aspects are given.

关键词： model plant mismatch process monitoring control loop behavior

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Extremal optimization for unit commitment problem for power systems

Extremal optimization for unit commitment problem for power ...

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IEEE General Meeting Power& Energy Society

作者： Jin Ding Yong-Zai Lu Jian Chu State Key Laboratory of Industrial Control Technology Institute of Cyber-System and Control University of Zhejiang Hangzhou China

This paper introduces extremal optimization (EO) method to solve unit commitment problem for power systems. EO is a local-search heuristic algorithm and originally developed from the fundamentals of statistical physics. In the implementation of EO for unit commitment (UC) problem, a novel problem-specific mutation operator is introduced and rule-based heuristic constraint-repairing techniques are devised. Simulation results on power systems which are composed of up to 100-units over a scheduling horizon of 24-hours demonstrate competitive performance with EO method compared with other existing methods for UC problem.

关键词： Spinning Indexes Power systems Fuels Cost function Power generation

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A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot

A Model of Collision-Detection for Maxillofacial Multi-arm S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Zhu, Xiang-yu Duan, Xing-guang Chen, Chao Liu, Tian-bo Guo, Qing-bo Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.

关键词： Multi-arm robot Collision Avoidance Geometric Primitives Collision Detection

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Experimental Research on the Ultrasound-guided Positioning System of Microwave Ablation Surgical Robot

Experimental Research on the Ultrasound-guided Positioning S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Duan, Xing-guang Guo, Qing-bo Liu, Tian-bo Zhu, Xiang-yu Chen, Chao Yang, Yang Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.

关键词： Surgical Robot Ultrasound-guided localization system Microwave Ablation

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Hysteretic optimization for the capacitated vehicle routing problem

Hysteretic optimization for the capacitated vehicle routing ...

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IEEE International Conference on Networking, Sensing and control

作者： Xiaobo Yan Weimin Wu Zhejiang University Hangzhou Zhejiang CN State Key Laboratory of Industrial Control Technology& Institute of Cyber-Systems and Control Zhejiang University Hangzhou China

Hysteretic optimization (HO) is a recently proposed heuristic physical optimization algorithm based on the well-known demagnetization process of magnetic materials in magnetism. The Capacitated Vehicle Routing Problem (CVRP) is an important variant of the vehicle routing problem which is one of the most important and intensively studied combinatorial optimization problems. In this study, we apply HO to the Capacitated Vehicle Routing Problem (CVRP), by generalizing the external field and endowing the configuration space with a proper distance. The experimental results with benchmark problems show the proposed method is competitive with other popular algorithms, such as particle swarm optimization, genetic algorithms.

关键词： Optimization Vehicles Routing Heuristic algorithms Demagnetization Magnetic hysteresis Benchmark testing

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Emergency management of urban rail transit systems using parallel control

Emergency management of urban rail transit systems using par...

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作者： Ning, B. Dong, H. Hu, X. Tang, T. Sun, X. State Key Laboratory of Rail Traffic and Control Beijing Jiaotong University Beijing China Optimization and Systems Theory Royal Institute of Technology Stockholm Sweden

This paper presents a parallel control system designed for managing emergent events in an urban rail transit system (URTS). The key features of the system include cloud computing, information fusion and expert systems. A multiagent approach is used for modeling diversities and interactions in the URTS. Partially due to its ability to interact with the real system via parallel execution, such a parallel control system would provide a cost-effective solution for emergency personnel training, verification of emergency measures, and validation of emergency plans and management policies. © 2012 WIT Press.

关键词： Personnel training

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A novel macroscopic traffic model based on generalized optimal velocity model

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Chinese Physics B 2011年第1期20卷 419-425页

作者：周玄昊吕勇哉 State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and ControlZhejiang University

In this paper, we adopt the coarse graining method proposed by Lee H K et al. to develop a macroscopic model from the microscopic traffic model-GOVM. The proposed model inherits the parameter p which considers the influence of next-nearest car introduced in the GOVM model. The simulation results show that the new model is strictly consistent with the former microscopic model. Using this macroscopic model, we can avoid considering the details of each traffic on the road, and build more complex models such as road network model easily in the future.

关键词： macroscopic model microscopic model traffic flow

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Process pattern construction and multi-mode monitoring

Process pattern construction and multi-mode monitoring

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作者： Zhu, Zhibo Song, Zhihuan Palazoglu, Ahmet State Key Laboratory of Industrial Control Technology Institute of Industrial Process Control Zhejiang University Hangzhou Zhejiang 310027 China Department of Chemical Engineering and Materials Science University of California Davis One Shields Avenue Davis CA 95616 United States

A novel framework for process pattern construction and multi-mode monitoring is proposed. To identify process patterns, the framework utilizes a clustering method that consists of an ensemble moving window strategy along with an ensemble clustering solutions strategy. A new k-independent component analysis-principal component analysis (k-ICA-PCA) modeling method captures the relevant process patterns in corresponding clusters and facilitates the validation of ensemble solutions. Following pattern construction, the proposed framework offers an adjoined multi-ICA-PCA model for detection of faults under multiple operating modes. The Tennessee Eastman (TE) benchmark process is used as a case study to demonstrate the salient features of the method. Specifically, the proposed method is shown to have superior performance compared to the previously reported k-PCA models clustering approach. © 2011 Elsevier Ltd. All Rights Reserved.

关键词： Principal component analysis

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An overview of agent-based evacuation models for building fires

An overview of agent-based evacuation models for building fi...

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2012 9th IEEE International Conference on Networking, Sensing and control, ICNSC 2012

作者： Hu, Yuling Liu, Xiwei Wang, Feiyue Cheng, Changjian Beijing Key Laboratory of Automatic Control System School of Automation Beijing Institute of Technology China School of Electric and Information Engineering Beijing University of Civil Engineering and Architecture China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China

ISBN: (纸本)9781467303880

Agent-based evacuation modeling approach is gained more and more attention for investigating human cognitive capabilities and social behaviors in building fires. This paper mainly overviews the research about various agent-based evacuation models. For the decision-making reflects the intelligence of agent individual, we define three types of behavior decision-making models for agent individual based on the collected literatures and sum up the characteristics of each type. Aiming at crowd' important influence on evacuation processes, we also sum up two types of agent-based crowd modeling approaches to simulate crowd evacuation processes and give corresponding cases. Finally, after summing up the existing problems, the outlooks of the research from computaional experiments point of view is proposed. © 2012 IEEE.

关键词： Decision making

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