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Sliding Mode control Using linear extended state observer(LESO) and Hysteresis Compensator based on Bouc-Wen model in Sinusoidal Position control of a Piezoelectric Actuator 33

Sliding Mode Control Using linear extended state observer(LE...

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第三十三届中国控制会议

作者： QIAO zhi GAN minggang WANG chenyi School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

In this paper,a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA).The inverse hysteresis compensator is involved in eliminating the hysteresis nonlinearity reducing the nonlinear system to a linear ***,a sliding mode controller combining with LESO is adopted to handle all the unmodeled dynamics and disturbances,with an intention of improving and enhancing the dynamic performance and the robustness of *** feasibility of the proposed control scheme is verified by experiment of a *** result shows that when faced with a fast-rate control input,the proposed method can also ensure the system a good performance.

关键词： Bouc-Wen Model,Hysteresis Compensator,Sliding Mode control,Linear Extended State Observer

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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Multi-Channel Ad Inventory Allocation in Real-Time Bidding Advertising Market

Multi-Channel Ad Inventory Allocation in Real-Time Bidding A...

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第七届社会计算会议

作者： Li Juanjuan Yuan Yong Qin Rui The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190China Qingdao Academy of Intelligent Industries Qingdao Shandong266109China

Real-time bidding(RTB)advertising is a promising business model emerging with the integration of big data and online *** on analysis of Web users' Cookie data,RTB has the potential of identifying target audiences and delivering best matched ads in real time,and also enabling advertisers bid for each matched ad impression via auction-based programmatic buying *** RTB markets,publishers are suppliers of ad impressions(or ad inventory),and typically they have multiple channels to sell these ad *** this paper,we analyze three commonly-used strategies for publishers to allocate the ad inventory,i.e.,the offline guaranteed contract,the online RTB channel,and the hybrid *** explicitly take the quality of ad impressions into consideration,since it is a key parameter for publishers' decision when choosing a proper channel to sell these ad *** establish models to optimize the reserve price for maximizing the revenue of those publishers choosing the online RTB channel and the hybrid *** also compared these three strategies in pursuit of finding the proper strategy for publishers when selling ad impressions with different qualities.

关键词： Real-time bidding ad inventory allocation reserve price ad impression quality

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Flocking of multi-robot systems with connectivity maintenance on directed graphs

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Journal of systems Engineering and Electronics 2014年第3期25卷 470-482页

作者： Mao, Yutian Dou, Lihua Fang, Hao Chen, Jie School of Automation Beijing Institute of Technology Beijing 100081 China Key Laboratory of Intelligent Control Decision of Complex Systems Beijing 100081 China

Analysis and design techniques for cooperative flocking of nonholonomic multi-robot systems with connectivity maintenance on directed graphs are presented. First, a set of bounded and smoothly distributed control protocols are devised via carefully designing a class of bounded artificial potential fields (APF) which could guarantee the connectivity maintenance, collision avoidance and distance stabilization simultaneously during the system evolution. The connectivity of the underlying network can be preserved, and the desired stable flocking behavior can be achieved provided that the initial communication topology is strongly connected rather than undirected or balanced, which relaxes the constraints for group topology and extends the previous work to more generalized directed graphs. Furthermore, the proposed control algorithm is extended to solve the flocking problem with a virtual leader. In this case, it is shown that all robots can asymptotically move with the desired velocity and orientation even if there is only one informed robot in the team. Finally, nontrivial simulations and experiments are conducted to verify the effectiveness of the proposed algorithm. © 1990-2011 Beijing Institute of Aerospace Information.

关键词： Multipurpose robots

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Distributed tracking for networked Euler-Lagrange systems without velocity measurements

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Journal of systems Engineering and Electronics 2014年第4期25卷 671-680页

作者： Yang, Qingkai Fang, Hao Mao, Yutian Huang, Jie School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the leader, sliding mode estimators are developed to estimate the states of the dynamic leader in finite time. To cope with the absence of velocity measurements, the distributed observers which only use position information are designed. Based on the outputs of the estimators and observers, distributed tracking control laws are proposed such that all the followers with parameter uncertainties can track the dynamic leader under a directed graph containing a spanning tree. It is shown that the distributed observer-controller guarantees asymptotical stability of the closed-loop system. Numerical simulations are worked out to illustrate the effectiveness of the control laws. © 2014 Beijing Institute of Aerospace Information.

关键词： Velocity

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Distributed observer-based coordination for multiple Lagrangian systems using only position measurements

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IET control Theory and Applications 2014年第17期8卷 2102-2114页

作者： Yang, Qingkai Fang, Hao Chen, Jie Wang, Xueyuan School of Automation Beijing Institute of Technology Beijing100081 China Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing100081 China

This study addresses the distributed coordination problem for multiple Lagrangian systems under a directed graph. Two cases are considered, namely, the distributed tracking control problem with a dynamic leader and the leaderless synchronisation problem. To overcome the difficulty that only positions are measured, a kind of new distributed observer is designed to estimate the velocity for each follower. The velocity observer is updated using only position information from the agent itself and from its neighbours. Based on the outputs of the observer, the distributed control protocols are proposed, respectively, such that the tracking errors locally exponentially converge to zero in the tracking scenario and the agents synchronise in the leaderless synchronisation scenario. Furthermore, the stability of the overall scheme is discussed under the directed interaction graphs that contain a directed spanning tree. Finally, cooperative simulations are provided to show the effectiveness of the proposed observer and control algorithms. © 2014 The Institution of Engineering and Technology.

关键词： Directed graphs

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The Liver Tumor Segmentation Benchmark (LiTS)

arXiv

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arXiv 2019年

作者： Bilic, Patrick Christ, Patrick Li, Hongwei Bran Vorontsov, Eugene Ben-Cohen, Avi Kaissis, Georgios Szeskin, Adi Jacobs, Colin Mamani, Gabriel Efrain Humpire Chartrand, Gabriel Lohöfer, Fabian Holch, Julian Walter Sommer, Wieland Hofmann, Felix Hostettler, Alexandre Lev-Cohain, Naama Drozdzal, Michal Amitai, Michal Marianne Vivanti, Refael Sosna, Jacob Ezhov, Ivan Sekuboyina, Anjany Navarro, Fernando Kofler, Florian Paetzold, Johannes C. Shit, Suprosanna Hu, Xiaobin Lipková, Jana Rempfler, Markus Piraud, Marie Kirschke, Jan Wiestler, Benedikt Zhang, Zhiheng Hülsemeyer, Christian Beetz, Marcel Ettlinger, Florian Antonelli, Michela Bae, Woong Bellver, Míriam Bi, Lei Chen, Hao Chlebus, Grzegorz Dam, Erik B. Dou, Qi Fu, Chi-Wing Georgescu, Bogdan Giró-I-Nieto, Xavier Gruen, Felix Han, Xu Heng, Pheng-Ann Hesser, Jürgen Moltz, Jan Hendrik Igel, Christian Isensee, Fabian Jäger, Paul Jia, Fucang Kaluva, Krishna Chaitanya Khened, Mahendra Kim, Ildoo Kim, Jae-Hun Kim, Sungwoong Kohl, Simon Konopczynski, Tomasz Kori, Avinash Krishnamurthi, Ganapathy Li, Fan Li, Hongchao Li, Junbo Li, Xiaomeng Lowengrub, John Ma, Jun Maier-Hein, Klaus Maninis, Kevis-Kokitsi Meine, Hans Merhof, Dorit Pai, Akshay Perslev, Mathias Petersen, Jens Pont-Tuset, Jordi Qi, Jin Qi, Xiaojuan Rippel, Oliver Roth, Karsten Sarasua, Ignacio Schenk, Andrea Shen, Zengming Torres, Jordi Wachinger, Christian Wang, Chunliang Weninger, Leon Wu, Jianrong Xu, Daguang Yang, Xiaoping Yu, Simon Chun-Ho Yuan, Yading Yue, Miao Zhang, Liping Cardoso, Jorge Bakas, Spyridon Braren, Rickmer Heinemann, Volker Pal, Christopher Tang, An Kadoury, Samuel Soler, Luc van Ginneken, Bram Greenspan, Hayit Joskowicz, Leo Menze, Bjoern Department of Informatics Technical University of Munich Germany Department of Quantitative Biomedicine University of Zurich Switzerland Ecole Polytechnique de Montréal Canada Department of Medical Imaging Radboud University Medical Center Nijmegen Netherlands Department of Biomedical Engineering Tel-Aviv University Israel Germany Pattern Analysis and Learning Group Department of Radiation Oncology Heidelberg University Hospital Heidelberg Germany Philips Research China Philips China Innovation Campus Shanghai China School of Biomedical Engineering & Imaging Sciences King0s College London London United Kingdom Institute for AI in Medicine Technical University of Munich Germany Department of Computer Science Guangdong University of Foreign Studies China Institute for diagnostic and interventional radiology Klinikum rechts der Isar Technical University of Munich Germany Institute for Diagnostic and Interventional Neuroradiology Klinikum Rechts der Isar Technical University of Munich Germany Department of Hepatobiliary Surgery The Affiliated Drum Tower Hospital Nanjing University Medical School China Department of Computing Imperial College London London United Kingdom Institute for Tissue Engineering and Regenerative Medicine Helmholtz Zentrum München Neuherberg Germany Brigham and Women's Hospital Harvard Medical School United States School of Computer Science and Engineering The Hebrew University of Jerusalem Israel University of Pennsylvania PA United States Pte. Ltd. Singapore Medical Imaging and Reconstruction Lab Department of Engineering Design Indian Institute of Technology Madras India Sensetime Shanghai China Department of Radiology Perelman School of Medicine University of Pennsylvania United States Department of Pathology and Laboratory Medicine Perelman School of Medicine University of Pennsylvania PA United States Co. Ltd China MontréalQC Canada Department of Radiology Radiation Oncology and Nuclear Medicine University of Montréal

In this work, we report the set-up and results of the Liver Tumor Segmentation Benchmark (LiTS), which was organized in conjunction with the IEEE International Symposium on Biomedical Imaging (ISBI) 2017 and the International Conferences on Medical Image Computing and Computer-Assisted Intervention (MICCAI) 2017 and 2018. The image dataset is diverse and contains primary and secondary tumors with varied sizes and appearances with various lesion-to-background levels (hyper-/hypo-dense), created in collaboration with seven hospitals and research institutions. Seventy-five submitted liver and liver tumor segmentation algorithms were trained on a set of 131 computed tomography (CT) volumes and were tested on 70 unseen test images acquired from different patients. We found that not a single algorithm performed best for both liver and liver tumors in the three events. The best liver segmentation algorithm achieved a Dice score of 0.963, whereas, for tumor segmentation, the best algorithms achieved Dices scores of 0.674 (ISBI 2017), 0.702 (MICCAI 2017), and 0.739 (MICCAI 2018). Retrospectively, we performed additional analysis on liver tumor detection and revealed that not all top-performing segmentation algorithms worked well for tumor detection. The best liver tumor detection method achieved a lesion-wise recall of 0.458 (ISBI 2017), 0.515 (MICCAI 2017), and 0.554 (MICCAI 2018), indicating the need for further research. LiTS remains an active benchmark and resource for research, e.g., contributing the liver-related segmentation tasks in http://***/. In addition, both data and online evaluation are accessible via ***. © 2019, CC BY-NC-ND.

关键词： Deep learning

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Adaptive object tracking based on vision sensor and milli-meter wave radar

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Journal of Computational Information systems 2014年第8期10卷 3283-3290页

作者： Jin, Lu Fu, Mengyin Yang, Yi Key Laboratory of Intelligent Control and Decision of Complex Systems Ministry of Education Beijing 100081 China School of Automation Beijing Institute of Technology Beijing 100081 China

The object tracking for driver assistant system by the multi-sensors fusion has drawn much attention recently. With the complexity of space alignment, a new space alignment algorithm is proposed to project the object by millimeter wave radar onto the image plane. The method needs not to estimate interior and exterior parameters between two sensors. Considering alignment result as the measurement, a new tracking algorithm based on the Mean Shift with Unscented Kalman Filter and Information Measure of Multi-Scale Image is proposed. The Unscented Kalman Filter firstly is used to predict the initial iteration position for Mean Shift algorithm. After the object position is located by Mean Shift algorithm, the size of tracking window is adjusted adaptively through the size change ratio of adjacent frame. The results show that the proposed algorithm can track accurately the object whose size is gradually increasing or decreasing, and the algorithm also reduces the iteration times, the location time and the tracking error. © 2014 Binary Information Press.

关键词： Alignment

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Decentralized Adaptive Filtering for Multi-agent systems with Uncertain Couplings

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 101-112页

作者： Hongbin Ma Yini Lv Chenguang Yang Mengyin Fu the School of Automation Beijing Institute of Technology the Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology the School of Computing and Mathematics Plymouth University

In this paper, the problem of decentralized adaptive filtering for multi-agent systems with uncertain couplings is formulated and investigated. This problem is challenging due to the mutual dependency of state estimation and coupling estimation. First, the problem is divided into four typical types based on the origin of coupling relations and linearity of the agent dynamics. Then models of the four types are given and the corresponding decentralized adaptive filtering algorithms are designed for the purpose of estimation of the unknown states and couplings which denotes the relations between agents and their neighbor agents in terms of states or outputs simultaneously,with preliminary stability analysis and discussions. For testing the effects of algorithm, with the so-called certainty-equivalence principle, control signals are designed based on the results of state estimation and coupling estimation got by the proposed decentralized adaptive filtering algorithms. Extensive simulations are conducted to verify the effectiveness of considered algorithms..

关键词： Multi-agent systems coupling uncertainties de-centralized adaptive filtering extended Kalman filter

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Modeling and Simulation of Thermoelectric Power Generation System Based on Finite Element Method 33

Modeling and Simulation of Thermoelectric Power Generation S...

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第三十三届中国控制会议

作者： LI YONG DENG FANG School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781479947249

The temperature distribution is the crucial part in the design of the thermoelectric power generation system. Based on the temperature distribution, the system efficiency and stability could be effectively improved by using structure design of the thermoelectric power generation system. In this paper, the differential equation model and the finite element governing equation of thermoelectric power generation system is established, the model is analyzed through the finite element method, and the commercial finite element analysis software Ansys is used to simulate the system temperature distribution, with the assistant of APDL(Ansys Parametric design Language), a parametric model is built and then the temperature field distribution is *** simulation results are not only beneficial to provide guidance for the optimum of thermoelectric power generation system,but also meaningful to evaluate the feasibility of the design scheme of the system.

关键词： Thermoelectric Power Generator System,Finite Element Method,Temperature Distribution,Structure Optimum,System Evaluation

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