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International Conference on Advanced Robotics and Mechatronics (ICARM)

作者： Liu Zun Pei Hai Long laboratory of Autonomous System and Networked Control Ministry of Education South China University of Technology Guangzhou Guangdong CN Key laboratory of Autonomous System and Networked Control Ministry of Education South China University of Technology Guangzhou China

This paper establishes an online identification algorithm which can provide the model status in real time base on TVARMA model for small unmanned helicopter. First, the TVARMA model used for describing the small unmanned helicopter is shown. After that, a recursive algorithm is elaborated to solve the parameters in the TVARMA model. Then a flight experiment data is used to identify the TVARMA model as an example, analysis and compare are made in the end to prove that the TVARMA model is accurate and this identification method is also effective.

关键词： Helicopters Autoregressive processes Data models Rotors Atmospheric modeling Analytical models Heuristic algorithms

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Teleoperation control for Bimanual robots based on RBFNN and Wave Variable

Teleoperation Control for Bimanual robots based on RBFNN and...

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2017 9th International Conference on Modelling, Identification and control (ICMIC 2017)

作者： Xingjian Wang Chenguang Yang Junpei Zhong Rongxin Cui Min Wang Key Laboratory of Autonomous Systems and Networked Control College of Automation Science and EngineeringSouth China University of Technology Zienkiewicz Centre for Computational Engineering Swansea University National Institute of Advanced Industrial Science and Technology School of Marine Science and Technology Northwestern Polytechnical University

In this paper,a dual arm control method in a teleoperation system is *** a bimanual robot,moving a common object precisely requires real-time cooperation between the two *** such conditions the force interaction including the internal forces applied on the object must be taken into *** the dynamics models for master device,slave robot and the object are first *** the presence of the uncertainties in the dynamics model of the remote robot,a neural network method is used for compensation in the slave *** order to guarantee the stability of the teleoperation system,the wave variable approach is employed in the communication *** the controllers in both the master and the slave part are designed based on their dynamics *** the tracking convergence and system stability are proven by the Lyapunov *** simulation experiments are carried out to show the good performance of trajectory tracking and force reflection.

关键词： Bimanual Robot Teleoperation control Wave Variable RBF NN

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Satellite formation control and navigation experiment platform based on UAVs

Satellite formation control and navigation experiment platfo...

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Chinese control Conference (CCC)

作者： Zhaoqing Xu Hailong Pei College of Automation Science and Engineering Key Laboratory of Autonomous System and Networked Control South China University of Technology Guangzhou Guangdong CN

ISBN: (纸本)9781509009107

In order to simulate the in-orbit movement of formation satellites, the unmanned helicopter is utilized to set up the microgravity environment relative navigation ground simulation platform. The platform can provide the movement of six degrees of freedom and can simulate the formation satellite flying in three-dimensional space. The test platform includes host computer system, communication system, UAVs formation control system, satellite attitude simulation system, and so on. Sensors are equipped with laser radar and visible light cameras. Formation control and navigation of multi-body can be achieved under complex network environment. The platform can be used for the test of satellite autonomous formation simulation, joint fleet navigation, and so on. The algorithm of multi-body formation, multi-source and multi-target tracking based on sensor network, multi-body navigation and remote control can be verified on this platform.

关键词： Satellites Computers Attitude control Satellite navigation systems Satellite broadcasting Helicopters

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China Population Prediction with the Aid of Fast,Optimal and Accurate WASD Neuronet Compared with BP Neuronet 35

China Population Prediction with the Aid of Fast,Optimal and...

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第35届中国控制会议

作者： ZHANG Yunong HE Penghao WEN Jianfeng HE Liangyu TAN Hongzhou School of Information Science and Technology Sun Yat-sen University(SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Department of Computer Science Guangdong Polytechnic Normal University

ISBN: (纸本)9781509009107

Population is one of the most significant factors affecting the social and economic development of a ***,China is facing a big challenge of population *** is important for Chinese government to pay continuous attention to the population situation and take measures so as to keep the economic ***,the effectiveness of these measures depends crucially on the accurate prediction of China *** methods,including the feedforward neuronet equipped with back-propagation（BP） algorithm,have been proposed in order to improve the prediction ***,these methods possibly have their inherent *** this paper,the authors construct an enhanced feedforward neuronet,i.e.,a 3-layer feedforward power-activated neuronet（PAN） equipped with the weights-and-structure-determination algorithm（for short,WASD-PAN）,to predict China *** experiments show that China population will continue to increase at a low rate in the next *** authors also compare the WASD-PAN with the back-propagation neuronet BP-PAN,with numerical experimental results showing the excellent performance of the former.

关键词： China Population Prediction Weights-And-Structure-Determination（WASD） Back-Propagation（BP） Neuronet

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Selection of Spectral Data for Classification of Steels Using Laser-Induced Breakdown Spectroscopy

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Plasma Science and Technology 2015年第11期17卷 964-970页

作者：孔海洋孙兰香胡静涛辛勇丛智博 Shenyang Institute of Automation Chinese Academy of Sciences University of Chinese Academy of Sciences CAS Key Laboratory of Networked Control System

Principal component analysis （PCA） combined with artificial neural networks was used to classify the spectra of 27 steel samples acquired using laser-induced breakdown spectroscopy. Three methods of spectral data selection, selecting all the peak lines of the spectra, selecting intensive spectral partitions and the whole spectra, were utilized to compare the infiuence of different inputs of PCA on the classification of steels. Three intensive partitions were selected based on experience and prior knowledge to compare the classification, as the partitions can obtain the best results compared to all peak lines and the whole spectra. We also used two test data sets, mean spectra after being averaged and raw spectra without any pretreatment, to verify the results of the classification. The results of this comprehensive comparison show that a back propagation network trained using the principal components of appropriate, carefully selecred spectral partitions can obtain the best results accuracy can be achieved using the intensive spectral A perfect result with 100% classification partitions ranging of 357-367 nm.

关键词： laser-induced breakdown spectroscopy classification of steel samples principal component analysis artificial neural networks selection of spectral data

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Time-Varying Linear Programming via LVI-PDNN with Numerical Examples

Time-Varying Linear Programming via LVI-PDNN with Numerical ...

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2016 IEEE 13th International Conference on Signal Processing（ICSP2016）

作者： Sheng Wu Liu He Maotai Zou Jian Li Yunong Zhang School of Information Science and Technology Sun Yat-sen University SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous System and Networked Control Ministry of Education

Playing a fundamental role in mathematic optimization, linear programming(LP) problems have been widely encountered in various scientific disciplines and industrial applications. Although static LP problems have been investigated extensively and applied to abundant scientific fields through the last decades, researches concerning time-varying linear programming(TVLP) problem solving are in relatively small *** this paper, the TVLP problems are solved by a linearvariational-inequality based primal-dual neural network(LVIPDNN), which is originally designed for static LP problem solving. Numerical examples and computer simulations further reveal that LVI-PDNN could approach the theoretical solution when solving TVLP problems subject to equality, inequality and bound constraints simultaneously.

关键词： Time-varying linear programming primal-dual neural network linear variational inequality

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Longitudinal Dynamic Characteristics Analysis for controller Design of Elastic Missile 34

Longitudinal Dynamic Characteristics Analysis for Controller...

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第三十四届中国控制会议

作者： XU Zhaoqing PEI Hailong College of Automation Science and Engineering Ministerial Key Laboratory of Autonomous System and Networked ControlSouth China University of Technology

ISBN: (纸本)9781467374439

In order to design the controller of cruise missile vibrating in flight, the longitudinal dynamic characteristics of the missile are analyzed in this paper. The intrinsic mode is calculated by using the software NASTRAN. The additional unsteady aerodynamics caused by vibration is investigated, and the longitudinal rigid perturbation motion equations are established according to the linear theory. The dynamic response of elastic vibration can be obtained after the additional unsteady aerodynamics loads are substituted to the equations as input of disturbance. The results can provide initial data for stability analysis, precision analysis, guidance and control system design. The output response shows that the longitudinal attitude variation caused by elastic vibration will be very small when the aerodynamic and structure stability are satisfied, and the elastic vibration will not influence flight stability, the adverse effects of vibration must be eliminated by the way of filtering or the other methods.

关键词： elastic missile controller unsteady aerodynamics dynamic characteristics

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Active Disturbance Rejection Based Iterative Learning control

Active Disturbance Rejection Based Iterative Learning Contro...

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第28届中国控制与决策会议

作者： Xiangyang Li Senping Tian Wei Ai IEEE Key Laboratory of Autonomous Systems and Networked Control Ministry of EducationSchool of Automation Science and EngineeringSouth China University of Technology

ISBN: (纸本)9781467397155

The traditional iterative learning control(ILC) algorithm improves the control performance by updating the control input to implicitly compensate the periodic *** order to enhance the convergence rate of ILC,a new concept,iterative extended state observer(IESO),is presented which can estimate explicitly the periodic uncertainties during the process of iterations and be used to update the control input *** explicit estimation of the uncertainty by the linear IESO in the iteration domain is used to construct a new ILC algorithm based on active disturbance rejection(ADR).The ADR-based ILC algorithm and its corresponding theorem are given in detail and proven by using Lyapunov-like *** results verify the effectiveness of the proposed ILC algorithm,and the iterative learning efficiency is improved greatly by using ADR-based ILC algorithm.

关键词： Iterative Learning control(ILC) Extended State Observer(ESO) Iterative Extended State Observer(IESO) Active Disturbance Rejection Based Iterative Learning control(ADR-based ILC) Lyapunov-like Approach

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Teleoperation control of Baxter Robot based on Human Motion Capture

Teleoperation Control of Baxter Robot based on Human Motion ...

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IEEE International Conference on Information and Automation

作者： Guangzhu Peng Chenguang Yang Yiming Jiang Long Cheng Peidong Liang Key Lab of Autonomous Systems and Networked Control Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences China State Key Laboratory of Robotics and System Harbin Institute of Technology China

ISBN: (纸本)9781509041039

The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.

关键词： Teleoperation control Baxter Robot Human Motion Capture

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A global survey on the use of the international classification of diseases codes for metabolic dysfunction-associated fatty liver disease

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Hepatology international 2024年第4期18卷 1178-1201页

作者： Huai Zhang Giovanni Targher Christopher D Byrne Seung Up Kim Vincent Wai-Sun Wong Luca Valenti Myer Glickman Jaime Ponce Christos S Mantzoros Javier Crespo Henning Gronbaek Wah Yang Mohammed Eslam Robert J Wong Mariana Verdelho Machado Ming-Lung Yu Omar M Ghanem Takeshi Okanoue Jun-Feng Liu Yong-Ho Lee Xiao-Yuan Xu Qiuwei Pan Meili Sui Amedeo Lonardo Yusuf Yilmaz Li-Yong Zhu Christophe Moreno Luca Miele Monica Lupsor-Platon Lei Zhao Teresa LeAnn LaMasters Robert G Gish Huijie Zhang Marius Nedelcu Wah Kheong Chan Ming-Feng Xia Fernando Bril Jun-Ping Shi Christian Datz Stefano Romeo Jian Sun Dan Liu Silvia Sookoian Yi-Min Mao Nahum Méndez-Sánchez Xiao-Yan Wang Nikolaos T Pyrsopoulos Jian-Gao Fan Yasser Fouad Dan-Qin Sun Cosimo Giannini Jin Chai Ze-Feng Xia Dae Won Jun Guo-Jing Li Sombat Treeprasertsuk Ying-Xu Li Tan To Cheung Faming Zhang George Boon-Bee Goh Masato Furuhashi Wai-Kay Seto Hui Huang Anna Di Sessa Qing-Hong Li Evangelos Cholongitas Le Zhang Themis Reverbel Silveira Giada Sebastiani Leon A Adams Wei Chen Xiaolong Qi Ivan Rankovic Victor De Ledinghen Wen-Jie Lv Masahide Hamaguchi Radwan Kassir Dirk Müller-Wieland Manuel Romero-Gomez Ying Xu Yi-Cong Xu Shi-Yao Chen Mohammad Kermansaravi Mohammad Shafi Kuchay Sander Lefere Chetan Parmar Gregory Y H Lip Chun-Jen Liu Fredrik Åberg George Lau Jacob George Shiv Kumar Sarin Jing-Ya Zhou Ming-Hua Zheng Department of Medical Record the First Affiliated Hospital of Wenzhou Medical University Wenzhou China. Metabolic Diseases Research Unit IRCCS Sacro Cuore - Don Calabria Hospital Negrar di Valpolicella Italy. Southampton National Institute for Health and Care Research Biomedical Research Centre University Hospital Southampton and University of Southampton Southampton General Hospital Southampton UK. Department of Internal Medicine Yonsei University Seoul Korea. Department of Medicine and Therapeutics The Chinese University of Hong Kong Hong Kong China. Department of Pathophysiology and Transplantation University of Milan Milan Italy. Precision Medicine Biological Resource Center Fondazione IRCCS Ca' Granda Ospedale Maggiore Policlinico Milan Italy. Health Analysis and Pandemic Insight Division Office for National Statistics London UK. Department Bariatric Surgery CHI Memorial Hospital Chattanooga TN USA. Beth Israel Deaconess Medical Center and Boston VA Healthcare System Harvard Medical School Boston MA USA. Gastroenterology and Hepatology Department Clinical and Traslational Research in Digestive Diseases Valdecilla Research Institute (IDIVAL) Marqués de Valdecilla University Hospital Santander Spain. Department of Hepatology and Gastroenterology Aarhus University Hospital 8200 Aarhus N Denmark. Department of Metabolic and Bariatric Surgery The First Affiliated Hospital of Jinan University Guangzhou China. Storr Liver Centre Westmead Institute for Medical Research Westmead Hospital and University of Sydney Sydney NSW Australia. Division of Gastroenterology and Hepatology Stanford University School of Medicine Veterans Affairs Palo Alto Healthcare System Palo Alto USA. Department of Gastroenterology Hospital de Vila Franca de Xira Vila Franca de Xira Portugal. School of Medicine and Doctoral Program of Clinical and Experimental Medicine College of Medicine and Center of Excellence for Metabolic Associated Fatty Liver Disease National Sun Yat-sen Univers

BACKGROUND:With the implementation of the 11th edition of the International Classification of Diseases (ICD-11) and the publication of the metabolic dysfunction-associated fatty liver disease (MAFLD) nomenclature in 2020, it is important to establish consensus for the coding of MAFLD in ICD-11. This will inform subsequent revisions of ICD-11. METHODS:Using the Qualtrics XM and WJX platforms, questionnaires were sent online to MAFLD-ICD-11 coding collaborators, authors of papers, and relevant association members. RESULTS:A total of 890 international experts in various fields from 61 countries responded to the survey. We also achieved full coverage of provincial-level administrative regions in China. 77.1% of respondents agreed that MAFLD should be represented in ICD-11 by updating NAFLD, with no significant regional differences (77.3% in Asia and 76.6% in non-Asia, p = 0.819). Over 80% of respondents agreed or somewhat agreed with the need to assign specific codes for progressive stages of MAFLD (i.e. steatohepatitis) (92.2%), MAFLD combined with comorbidities (84.1%), or MAFLD subtypes (i.e., lean, overweight/obese, and diabetic) (86.1%). CONCLUSIONS:This global survey by a collaborative panel of clinical, coding, health management and policy experts, indicates agreement that MAFLD should be coded in ICD-11. The data serves as a foundation for corresponding adjustments in the ICD-11 revision.

关键词： Global survey ICD-11 MAFLD

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