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第35届中国控制会议

作者： WANG Lijun JIAO Ruihua LI Qing YIN Yixin ZHENG Qing School of Automation & Electrical Engineering University of Science and Technology Beijing Key Laboratory of Advanced Control of Iron and Steel Process Ministry of Education Department of Electrical and Computer Engineering Gannon University

ISBN: (纸本)9781509009107

The servo systems are always difficult to design with high-accuracy due to nonlinear stick-slip at the low velocities and the uncertainties of friction dynamic model.A linear active disturbance rejection control(ADRC) dynamic compensation solution is presented independent of the friction *** deal with the problem of observing or tracking for unknown discontinuous signals of friction with Stribeck effect,a kind of linear extended state observer(LESO) algorithm is *** a linear control law is proposed to compensate the friction disturbance *** comparison with proportional-integral-derivative(PID) controller,the simulation results show that the proposed method not only has better accuracy of the discontinuous friction signal tracking,but also ensures better dynamic friction compensation at the low velocities.

关键词： Disturbance rejection Extended state observer Servo systems Stribeck friction Discontinuous tracking

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Hohmann transfer via constrained optimization

arXiv

引用

arXiv 2017年

作者： Xie, Li Zhang, Yiqun Xu, Junyan State Key Laboratory of Alternate Electrical Power System with Renewable Energy Sources North China Electric Power University Beijing102206 China Beijing Institute of Electronic Systems Engineering Beijing100854 China School of Control and Computer Engineering

In the first part of this paper, inspired by the geometric method of Jean-Pierre Marec, we consider the two-impulse Hohmann transfer problem between two coplanar circular orbits as a constrained nonlinear programming problem. By using the Kuhn-Tucker theorem, we analytically prove the global optimality of the Hohmann transfer. Two sets of feasible solutions are found, one of which corresponding to the Hohmann transfer is the global minimum, and the other is a local minimum. In the second part, we formulate the Hohmann transfer problem as two-point and multi-point boundary-value problems by using the calculus of variations. With the help of the Matlab solver bvp4c, two numerical examples are solved successfully, which verifies that the Hohmann transfer is indeed the solution of these boundary-value problems. Via static and dynamic constrained optimization, the solution to the orbit transfer problem proposed by W. Hohmann ninety-two years ago and its global optimality are *** Codes 49J15 Copyright © 2017, The Authors. All rights reserved.

关键词： Constrained optimization

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Synchronization of master-slave neural networks with sampled-data control and actuator saturation

Synchronization of master-slave neural networks with sampled...

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Asian control Conference

作者： Liuwen Li Wenlin Zou Shumin Fei Key Laboratory of Measurement and Control of CSE (Ministry of Education) Southeast University Nanjing P R China School of Computer Science and Engineering Nanjing Xiaozhuang University Nanjing P R China School of Computer Science and Engineering Nanjing University of Science and Technology Nanjing P R China

ISBN: (纸本)9781509015740;9781509015733

This paper focuses on synchronization of the master-slave neural networks. Under the constraint of sampled-data control and actuator saturation, synchronization criterion of master-slave neural network-based systems has been derived through the dynamic output feedback controller(DOFC). The error signals of master-slave systems are sampled and then transmitted to dynamic output-feedback controller, and an augmented system is modeled as an interval time-varying delay control system with nonlinear items. Through constructing discontinuous Lyapunov function and employing linear matrix inequality approach, sufficient conditions are derived, which guarantee asymptotical stability and accordingly synchronization master-slave systems;on the other hand, under the above synchronization and stability condition, a dynamic output-feedback controller is designed. A numerical example has proved the effectiveness of this method.

关键词： Synchronization Master-slave Actuators Stability analysis Neural networks Linear matrix inequalities

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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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An attention-based syntax-tree and tree-LSTM model for sentence summarization

引用

International Journal of Performability engineering 2017年第5期13卷 775-782页

作者： Liu, Wenfeng Liu, Peiyu Yang, Yuzhen Gao, Yaling Yi, Jing School of Information Science and Engineering Shandong Normal University Jinan250014 China Department of Computer and Information Engineering Heze University Heze274015 China Shandong Provincial Key Laboratory for Distributed Computer Software Novel Technology Jinan250014 China Ruipu Peony Industrial Technology Development Co. Ltd 274015 China School of Computer Science and Technology Shandong Jianzhu University Jinan250101 China

Generative Summarization is of great importance in understanding large-scale textual data. In this work, we propose an attention-based Tree-LSTM model for sentence summarization, which utilizes an attention-based syntactic structure as auxiliary information. Thereinto, block-alignment is used to align the input and output syntax blocks, while inter-alignment is used for alignment of words within that of block pairs. To some extent, block-alignment can prevent structural deviations on the long sentences and inter-alignment is capable of increasing the flexibility of the generation in the blocks. This model can be easily trained to end-to-end mode and deal with any length of the input sentences. Compared with several relatively strong baselines, our model has achieved the state-of-art on DUC-2004 shared task. © 2017 Totem Publisher, Inc. All rights reserved.

关键词： Alignment

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H∞ Filter for Sampled-data Systems with Sensor Saturation

H∞ Filter for Sampled-data Systems with Sensor Saturation

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第29届中国控制与决策会议

作者： Wenlin Zou Jie Cao Liuwen Li Shumin Fei School of Computer Science and Engineering Nanjing University of Science and Technology School of Mathematics and Information Technology Jiangsu Second Normal University Key Laboratory of Measurement and Control of CSE(Ministry of Education) School of AutomationSoutheast University

ISBN: (纸本)9781509046584

The problem of H filtering problem for sampled-data system in the presence of sensor saturation has been *** utilizing discontinuous Lyapunov function as well as linear matrix inequality,sufficient conditions of asymptotical stability and prescribed H performance for the filtering error system are *** on the conditions,the H filter exists if certain matrix inequahties are ***,a simulation example is employed to show the effectiveness of the proposed H filter design method.

关键词： sampled-data systems sensor saturation H_∞ filter time-delay

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Preserving data-privacy with added noises: Optimal estimation and privacy analysis

arXiv

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arXiv 2017年

作者： He, Jianping Cai, Lin Guan, Xinping Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Dept. of Electrical & Computer Engineering University of Victoria BC Canada

Networked systems often relies on distributed algorithms to achieve a global computation goal with iterative local information exchanges between neighbor nodes. To preserve data privacy, a node may add a random noise to its original data for information exchange at each iteration. Nevertheless, a neighbor node can estimate other’s original data based on the information it received. The estimation accuracy and data privacy can be measured in terms of (ϵ, δ)-data-privacy, defined as the probability of ϵ-accurate estimation (the difference of an estimation and the original data is within ϵ) is no larger than δ (the disclosure probability). How to optimize the estimation and analyze data privacy is a critical and open issue. In this paper, a theoretical framework is developed to investigate how to optimize the estimation of neighbor’s original data using the local information received, named optimal distributed estimation. Then, we study the disclosure probability under the optimal estimation for data privacy analysis. We further apply the developed framework to analyze the data privacy of the privacy-preserving average consensus algorithm and identify the optimal noises for the algorithm. Copyright © 2017, The Authors. All rights reserved.

关键词： Iterative methods

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Event-triggered H∞ control for networked control system subject to sensor and actuator saturations

Event-triggered H∞ control for networked control system sub...

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第29届中国控制与决策会议

ISBN: (纸本)9781509046584

This paper is devoted to the event-triggered H control problem for networked control systems with sensor and actuator saturations.A new event-triggered scheme in consideration of saturation constraint is introduced for the networked control *** constructing an appropriate Lyapunov-Krasovskii functional associated with the LMI technique,criteria for the exponential stability with an H norm bound and H control design have been obtained for the networked control system with proper event-triggered parameters.A simulation example is employed to show the effectiveness of the proposed control method.

关键词： event-triggered scheme sensor and actuator saturation network-induced delay networked control systems

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High-level activity recognition based on analysis of spatio-Temporal contexts

High-level activity recognition based on analysis of spatio-...

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2017 IEEE SmartWorld Ubiquitous Intelligence and Computing, Advanced and Trusted Computed, Scalable Computing and Communications, Cloud and Big Data Computing, Internet of People and Smart City Innovation, SmartWorld/SCALCOM/UIC/ATC/CBDCom/IOP/SCI 2017

作者： Lang, Ruixiang Ye, Jian Huang, Bin Sun, Yangwei Institute of Computing Technology Chinese Academy of Sciences Beijing China School of Computer and Control Engineering University of Chinese Academy of Sciences Beijing China Beijing Key Laboratory of Mobile Computing and Pervasive Device Beijing China

ISBN: (纸本)9781538604342

High-level activity recognition (HAR) has got widely used in healthcare, recommendation, activity sensitive applications etc. Because of the complexity, diversity and individuality of high-level activity, researchers are faced with the challenge of increasing recognition accuracy under realistic conditions. In daily life, high-level activity has a strong association with spatial location since people are used to doing an activity in a specific location. Furthermore, some high-level activities usually co-occur in temporal sequence, which is supposed to be considered in activity inference. In this paper, we propose an approach of high-level activity recognition based on analysis of spatio-Temporal contexts. The approach extracts Region of Activity (ROA) from spatial locations and discovers Daily Activity Pattern (DAP) from temporal sequence of activities to support the design of classifiers of high-level activity. The experiments show that the proposed approach bring about promising performance improvements on activity recognition. The fusion of ROA and DAP gain an advantage over the existing work in accuracy. © 2017 IEEE.

关键词： Pattern recognition

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Pollution characterization of water-soluble anions in TSP and PM10 in wuhan economic and technological development zone, China 3rd

Pollution characterization of water-soluble anions in TSP an...

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3rd Annual International Conference on Material Science and Environmental engineering, ICMSEE 2015

作者： Li, A.H. Jiang, J.T. Liu, Q.G. Hubei Key Laboratory of Industrial Fume and Dust Pollution Control Jianghan University Wuhan China School of Chemistry Environmental Engineering Jianghan University Wuhan China

ISBN: (纸本)9781138029385

The contents of TSP and PM10 were determined from March to April in 2014 in Wuhan Economic and Technological Development Zone (WEDZ). Meanwhile, four kinds of water-soluble anions that comprised of fluoride (F−), chloride (Cl−), sulfate (SO42−), and nitrate (NO3−) in TSP and PM10 were detected by IC. TSP and PM10 daily mass concentrations ranged from 161.6∼446.3 μg/m3 and 110.1∼241.1 μg/m3, with average concentrations of 324.6 μg/m3 and 175.3 μg/m3, respectively. In TSP, the contributions of F−, Cl−, NO3−, SO42− were 0.29%, 2.97%, 13.47% and 12.67%, and followed the order of NO3− > SO42− > Cl− > F−. In the case of PM10, the contributions were 0.22%, 1.39%, 17.70% and 17.26%, and followed the same order with TSP. The mean ratios of NO3− and SO42− in TSP and PM10 were 1.06 and 1.03, indicating that stationary sources and other industrial emissions and vehicle emissions were both important sources to the different sizes particles in WEDZ during the monitoring period. © 2016 Taylor and Francis Group, London.

关键词： Sulfur compounds

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