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第三十八届中国控制会议

作者： Zhijie Liu Hongjun Yang Yan Yang School of Automation and Electrical Engineering University of Science and Technology Beijing The State Key Laboratory of Management and Control for Complex System Institute of Automation Chinese Academy of Sciences School of Electro-Mechanical Engineering Xidian University

In this study, boundary control of a flexible manipulator is developed on the basis of the dynamic, partial differential equation(PDE) model. One of the main contributions is that the high gain observer is first applied to the PDE model of a flexible manipulator instead of measuring link velocity and end actuator velocity. In addition, using singular perturbation approach the PDE model is divided into two simpler subsystems to simplify the control design. Based on the proposed observer and decoupled PDE model, a sliding mode boundary control is designed to regulate angular position and suppress elastic vibration simultaneously. Numerical simulations demonstrate the effectiveness of the proposed scheme.

关键词： Boundary control flexible manipulator PDE model high gain observer singular perturbation

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Study on Scattering Signature Signal Modeling Method of Sea-surface Target for Bi-static Synthetic Aperture Radar

Study on Scattering Signature Signal Modeling Method of Sea-...

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2019 IEEE International Conference on Signal, Information and Data Processing, ICSIDP 2019

作者： Guijier, DIao Hong, Ni Yajing, Zhang Tianming, Zhan Xiaojian, Xu Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China Beijing Electro-mechanical Engineering Institute Beijing China Datang Mobile Communication Equipment Co. Ltd. Datang Telecom Group Beijing China Beijing Aerospace Smart Manufacturing Technology Development Co.Ltd. Beijing China Electronic Information Engineering College Beihang University Beijing China

ISBN: (纸本)9781728123455

Based on the coupling scattering mechanism between the ship and sea surface, a scattering signature modeling method of sea-surface target for bi-static imaging radar is proposed, considering the modulation effects of sea-surface forcing to ship targets. The bi-static scattering signature signal for sea-surface target is modeled, in conjunction with high frequency asymptotic techniques for electromagnetic (EM) scattering calculation, the multi-path EM scattering model, the time-evolving complex reflection coefficient model and the ship motion dynamics. The time-varying scattering signatures for a typical ship on time-evolving sea-surface are simulated and analyzed. © 2019 IEEE.

关键词： Radar imaging

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Preliminary research on modeling and simulation technology of artificial intelligence system 3

Preliminary research on modeling and simulation technology o...

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2018 3rd International Conference on Insulating Materials, Material Application and Electrical engineering, IMMAEE 2018

作者： Li, Kaiyue Liu, Lei Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing100074 China Beijing Electro-Mechanical Engineering Institute Beijing100074 China

The complex system of large-scale intelligent, concurrent and polymorphic organizational structure is a hot topic in the field of simulation. Qualitative and quantitative research on such systems requires integration of related technologies in the fields of computer simulation, system theory, and artificial intelligence. Mufti-agent simulation uses system theory and Mufti-agent system modelling method to build a system high-level model, and uses the system computing model established for the simulation software and hardware support technology based on the agent model to realize the simulation. Because it can effectively deal with the interlinear, interactivity and emergence of complex systems, it is considered to be the most dynamic and breakthrough methodology for complex system simulation. Based on this paper, the concept, theoretical method, technology and application of intelligent system engineering are mainly discussed. The application of artificial intelligence in modelling and simulation is analysed with examples. © 2018 Published under licence by IOP Publishing Ltd.

关键词： system theory

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Analysis of the effect of sampling strategy: flicking for chemical plume tracing by an autonomous robot

Analysis of the effect of sampling strategy: flicking for ch...

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IEEE/SICE International Symposium on system Integration

作者： Kei Okajima Shunsuke Shigaki Cesar Hernandez Reyes Kazushi Sanada Daisuke Kurabayashi Department of Mechanical Engineering Graduate School of Engineering Science Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama Kanagawa Japan Department of System Innovation Osaka University 1-2 Machikaneyama-cho Toyonaka Osaka Japan Department of Systems and Control Engineering Tokyo Institute of Technology 2-12-1 Ookayama Meguro-ku Tokyo Japan Division of Systems Research Faculty of Engineering Yokohama National University 79-5 Tokiwadai Hodogaya-ku Yokohama Kanagawa Japan

ISBN: (数字)9781728166674

ISBN: (纸本)9781728166681

In this paper, we propose an odor sampling strategy with flicking motion for chemical plume tracing(CPT). CPT consists of locating a chemical source according to the chemical particles in the air. The capability of performing CPT by an autonomous robot is highly demanded, yet difficult due to the complex behavior of airflow. From the viewpoint of bio-inspired systems, we focused on the flicking of an insect, by which it swings its antennae (chemical sensors) variably. We expected the flicking provide variable sampling resolutions according to searching phases. We first designed and implemented a variable air sampling mechanism that gave flicking ability to the robot. Then, we introduced the flicking to a common CPT algorithm inspired by the programmed behavior of a silkworm moth, which was composed of three motion phases. For the motion phases, we tested all combinations of the wide or narrow range of the sampling system. Through CPT experiments, results indicated that the flicking could improve CPT performance.

关键词： Robot sensing systems Chemicals Organisms Ethanol Antennas Surges

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Estimation of pregnancy losses attributable to exposure to ambient fine particles in south Asia: an epidemiological case-control study

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The Lancet Planetary Health 2021年第1期5卷 e15-e24页

作者： Xue, Tao Guan, Tianjia Geng, Guannan Zhang, Qiang Zhao, Yong Zhu, Tong Institute of Reproductive and Child Health Ministry of Health Key Laboratory of Reproductive Health Peking University Beijing China Department of Epidemiology and Biostatistics School of Public Health Peking University Beijing China School of Public Health Chinese Academy of Medical Sciences and Peking Union Medical College Beijing China State Key Joint Laboratory of Environmental Simulation and Pollution Control School of Environment Tsinghua University Beijing China Ministry of Education Key Laboratory for Earth System Modeling Department of Earth System Science Tsinghua University Beijing China College of Liberal Arts and Sciences University of Connecticut Storrs CT United States BIC-ESAT and SKL-ESPC College of Environmental Science and Engineering Peking University Beijing China

Background: Maternal exposure to ambient particulate matter (PM2·5) is associated with pregnancy loss (ie, stillbirth and miscarriage). South Asia has the highest burden of pregnancy loss globally and is one of t...

Background: Maternal exposure to ambient particulate matter (PM_2·5) is associated with pregnancy loss (ie, stillbirth and miscarriage). South Asia has the highest burden of pregnancy loss globally and is one of the most PM_2·5 polluted regions in the world. However, knowledge of the relevant exposure–response function for mothers is insufficient. Methods: In this epidemiological case-control study, we collected data from Demographic and Health Surveys from India, Pakistan, and Bangladesh for the period 1998–2016 for women who reported at least one pregnancy loss and one or more livebirths. We assessed ambient exposure during gestation with satellite-based PM_2·5 measurements for the period. To derive the exposure–response function, we did a self-compared case-control study in which each case of pregnancy loss was compared with a successful livebirth control or controls by the same mother. Using the estimated exposure–response function, we quantified pregnancy losses attributable to PM_2·5 in the region for the period 2000–16 using a standard risk assessment approach. Findings: We assessed data for 34 197 mothers, who had at least one pregnancy loss and one or more livebirth, of whom 26 282 (76·9%) were from India, 4228 (12·4%) were from Pakistan, and 3687 (10·8%) were from Bangladesh. The 34 197 cases of pregnancy loss were matched with 76 282 livebirth controls. The mean level of PM_2·5 exposure was 56·00 μg/m³ (SD 30·82) for cases and 54·57 μg/m³ (31·73) for controls. After adjustment for maternal age, non-linear terms for temperature and humidity, seasonal variation, and long-term trends, each 10 μg/m³ increment in PM_2·5 was associated with an odds ratio for pregnancy loss of 1·03 (95% CI 1·02–1·05). According to the estimated non-linear exposure–response function by age and urban residence versus rural residence, for the period 2000–16, an estimated 349 681 (95% CI 152

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Mem Brain: An Easy-to-Use Online Webserver for Transmembrane Protein Structure Prediction

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Nano-Micro Letters 2018年第1期10卷 12-19页

作者： Xi Yin Jing Yang Feng Xiao Yang Yang Hong-Bin Shen Institute of Image Processing and Pattern Recognition Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Computer Science Shanghai Jiao Tong University Key Laboratory of Shanghai Education Commission for Intelligent Interaction and Cognitive Engineering

Membrane proteins are an important kind of proteins embedded in the membranes of cells and play crucial roles in living organisms, such as ion channels,transporters, receptors. Because it is difficult to determinate the membrane protein's structure by wet-lab experiments,accurate and fast amino acid sequence-based computational methods are highly desired. In this paper, we report an online prediction tool called Mem Brain, whose input is the amino acid sequence. Mem Brain consists of specialized modules for predicting transmembrane helices, residue–residue contacts and relative accessible surface area of a-helical membrane proteins. Mem Brain achieves aprediction accuracy of 97.9% of ATMH, 87.1% of AP,3.2 ± 3.0 of N-score, 3.1 ± 2.8 of C-score. Mem BrainContact obtains 62%/64.1% prediction accuracy on training and independent dataset on top L/5 contact prediction,respectively. And Mem Brain-Rasa achieves Pearson correlation coefficient of 0.733 and its mean absolute error of13.593. These prediction results provide valuable hints for revealing the structure and function of membrane *** Brain web server is free for academic use and available at ***/bioinf/Mem Brain/.

关键词： Transmembrane a-helices Structure prediction Machine learning Contact map prediction Relative accessible surface area

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Walking of Biped Robot with Variable Stiffness at the Ankle Joint*

Walking of Biped Robot with Variable Stiffness at the Ankle ...

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IEEE International Conference on Robotics and Biomimetics

作者： Qing Bi Yixiang Liu Xizhe Zang Rui Song Haibin Wang Weimin Li Shandong Institute of Advanced Technology Chinese Academy of Sciences Jinan China School of Control Science and Engineering Shandong University Jinan China State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin China

Achieving versatile and efficient walking on biped robots is an important research objective. The impact between the foot and the ground has significant effects on the walking stability of biped robots. Research on human walking indicates that the joints in human lower limbs show different stiffness values in different phases of walking. Inspired by humans, this paper presents the realization of biped robot walking with variable stiffness at the ankle joint. A walking control scheme which combines PD control and variable impedance control is designed for the biped robot. Results of dynamic walking simulation verified that variable stiffness at the ankle joint could contribute to the improvement of walking stability and energy efficiency.

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Coalition game based user association for mmWave mobile relay systems in rail traffic scenarios

arXiv

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arXiv 2021年

作者： Chen, Chen Niu, Yong Mao, Shiwen Zhang, Xiaodan Han, Zhu Ai, Bo Gao, Meilin Xiao, Huahua Wang, Ning The State Key Laboratory of Rail Traffic Control and Safety Beijing Jiaotong University Beijing100044 China The Frontiers Science Center for Smart High-Speed Railway System Beijing Jiaotong University Beijing100044 China The National Mobile Communications Research Laboratory Southeast University Nanjing211189 China The Department of Electrical and Computer Engineering Auburn University AuburnAL36849-5201 United States The School of Management Shenzhen Institute of Information Technology Shenzhen518172 China The Department of Electrical and Computer Engineering The University of Houston HoustonTX77004 United States The Department of Computer Science and Engineering Kyung Hee University Seoul446-701 Korea Republic of The Beijing Engineering Research Center of High-Speed Railway Broadband Mobile Communications Beijing Jiaotong University Beijing100044 China The Tsinghua Space Center Tsinghua University Beijing100091 China The ZTE Corporation State Key Laboratory of Mobile Network Mobile Multimedia Technology Shenzhen518057 China The School of Information Engineering Zhengzhou University Zhengzhou450001 China

Rail transportation, especially, high-speed rails (HSR), is an important infrastructure for the development of national economy and the promotion of passenger experience. Due to the large bandwidth, millimeter wave (mmWave) communication is regarded as a promising technology to meet the demand of high data rates. However, since mmWave communication has the characteristic of high attenuation, mobile relay (MR) is considered in this paper. Also, full-duplex (FD) communications have been proposed to improve the spectral efficiency. However, because of the high speed, as well as the problem of penetration loss, passengers on the train have a poor quality of service. Consequently, an effective user association scheme for HSR in mmWave band is necessary. In this paper, we investigate the user association optimization problem in mmWave mobile relay systems where the MRs operate in the FD mode. To maximize the system capacity, we propose a cooperative user association approach based on coalition formation game, and develop a coalition formation algorithm to solve the challenging NP-hard problem. We also prove the convergence and Nash-stable property of the proposed algorithm. Extensive simulations are done to show the system performance of the proposed scheme under various network settings. It is demonstrated that the proposed distributed low complexity scheme achieves a near-optimal performance and outperforms two baseline schemes in terms of average system throughput. Copyright © 2021, The Authors. All rights reserved.

关键词： Game theory

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An approach to extract state information from multivariate time series

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Journal of Computers (Taiwan) 2020年第6期31卷 1-11页

作者： Gui, Jun Zheng, Zeyu Qin, Zhaobo Jia, Danping Gao, Yuan Liu, Zhi Yao, Qingfeng Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Network Control System Chinese Academy of Sciences Shenyang110016 China School of Information Science and Engineering Shenyang University of Technology Shenyang110870 China

system behaviors could be recorded as multivariate time series by smart sensors. It is challenging to interpret such high-dimensional dataset with a one-dimensional temporal state sequence. In this paper, we propose a new approach DBSE (Distribution-based States Extraction) which is based on statistical and clustering analysis. State extraction problem could be resolved through using distribution parameters to describe each subsequence in multivariate time series and applying clustering method to extract states based on distribution similarity in order to obtain a temporal state sequence and information of each state. We validate DBSE and demonstrate how to use DBSE in real-world by extracting state information from a wearable sensor dataset (PAMAP2_Dataset). By comparing DBSE with TICC (Toeplitz Inverse Covariance-based Clustering) and FCM (Fuzzy C-means Clustering), the new approach is more accurate and effective. Moreover, DBSE is also expected to facilitate future behavior analysis. © 2020 Computer Society of the Republic of China. All rights reserved.

关键词： Extraction

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Experimental study of a nitrogen loop heat pipe for cooling large area heat source

Experimental study of a nitrogen loop heat pipe for cooling ...

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CSAA/IET International Conference on Aircraft Utility systems, AUS 2018

作者： Tao, Yongbo Bai, Lizhan Guo, Yuandong Lin, Guiping He, Jiang Miao, Jianyin Zhang, Hongxing Laboratory of Fundamental Science on Ergonomics and Environmental Control School of Aeronautic Science and Engineering Beihang University Beijing100191 China Beijing Key Laboratory of Space Thermal Control Technology Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing100094 China

ISBN: (纸本)9781785617911

A cryogenic loop heat pipe (CLHP) is an efficient two-phase heat transfer device. It works without mechanical moving parts, external power, vibrations and electromagnetic interference. Hence, the CLHP can isolate optics and detectors from mechanical vibrations and improve image quality of large Far Infrared space telescopes. In this experiment, the working fluid was nitrogen and the operating temperature range was 80-120K. The method of supercritical startup was by applying capillary pump with power In this paper, the effects of different capillary pump powers on supercritical startup characteristics, relationship between charge pressure and heat transfer limit were studied. In the end, the responsiveness and temperature stability with heat load changing cyclically were investigated. The CLHP could achieve successful startup under auxiliary heat load of 2W and got a heat transport capacity of 3W. © 2018 IET Conference Publications. All rights reserved.

关键词： Nitrogen

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