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27th Chinese control and Decision Conference, CCDC 2015

作者： Yu, Zhang Wang, Junxiao Li, Shihua School of Automation Southeast University Nanjing Jiangsu Province China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education China

ISBN: (纸本)9781479970179

This paper aims to investigate an extended state observer (ESO) based control approach for the ground-coupled heat pump system (GCHP). As GCHP system has strong disturbances, a feasible approach of disturbance rejection should be proposed necessarily. ESO is employed to estimate the disturbance and compensate it to the controller to eliminate effects of the disturbance. By using ESO-based control and comparing with traditional control method, a better control performance is obtained through simulation verification. © 2015 IEEE.

关键词： disturbance rejection ESO GCHP simulation

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Adaptive Dynamic Programming Based Fault Compensation control for Nonlinear systems with Actuator Failures

Adaptive Dynamic Programming Based Fault Compensation Contro...

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International Joint Conference on Neural Networks

作者： Bo Zhao Derong Liu Yuanchun Li Guang Shi State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences School of Automation and Electrical Engineering University of Science and Technology Beijing Department of Control Science and Engineering Changchun University of Technology

ISBN: (纸本)9781509006212

This paper develops a novel fault compensation control scheme based on adaptive dynamic programming for nonlinear systems with actuator failures. The control scheme consists of a policy iteration algorithm and a fault compensation. For fault-free dynamic models, the Hamilton-Jacobi-Bellman equation is solved by policy iteration algorithm via constructing a critic neural network, and then the approximate optimal control policy can be derived directly. On the other hand, the online fault compensation is achieved without the fault detection and isolation mechanism by reconstructing the actuator failure. The closed-loop system is guaranteed to be asymptotically stable based on Lyapunov stability theorem. Two simulation examples are given to demonstrate the effectiveness of the present fault compensation control scheme.

关键词： Iterative algorithms Nonlinear systems compensator control dynamic programming Defect detection faults actuators system failures

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An automatic landmark localization method for 2D and 3D face 8th

An automatic landmark localization method for 2D and 3D face

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8th International Conference on Image and Graphics, ICIG 2015

作者： Liu, Junquan Da, Feipeng Deng, Xing Yu, Yi Zhang, Pu School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9783319219776

We propose an automatically and accurately facial landmark localization algorithm based on Active Shape Model (ASM) and Gabor Wavelets Transformation (GWT), which can be applied to both 2D and 3D facial data. First, ASM is implemented to acquire landmarks’ coarse areas. Then similarity maps are obtained by calculating the similarity between sets of Gabor jets at initial coarse positions and sets of Gabor bunches modeled by its corresponding manually marked landmarks in the training set. The point with the maximum value in each similarity map is extracted as its final facial landmark location. It is showed in our laboratory databases and FRGC v2.0 that the algorithm could achieve accurate localization of facial landmarks with state-of-the-art accuracy and robustness. © Springer International Publishing Switzerland 2015.

关键词： Metadata

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Nonlinear time-varying systems identification based on multi-dimensional taylor network and variable forgetting factor recursive least squares algorithm

Nonlinear time-varying systems identification based on multi...

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1st IFAC Conference on Modelling, Identification and control of Nonlinear systems, MICNON 2015

作者： Zhang, Jiao-Jun Yan, Hong-Sen School of Automation Southeast University Nanjing210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

A novel method for nonlinear time-varying systems identification based on multi-dimensional Taylor network and variable forgetting factor recursive least squares algorithm is proposed. In this paper, the connection weight coefficients of multi-dimensional Taylor network are regarded as time-varying parameters, which are trained by the variable forgetting factor recursive least squares algorithm, to reflect the input-output change of nonlinear time-varying systems. Simulation results show that the method proposed in this paper is valid.

关键词： Time varying networks

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Iterative Q-learning-based nonlinear optimal tracking control

Iterative Q-learning-based nonlinear optimal tracking contro...

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Qinglai Wei Ruizhuo Song Yancai Xu Derong Liu The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing Beijing China

ISBN: (纸本)9781509042418

A new Q-learning algorithm is developed for a class of discrete-time nonlinear systems in this paper to solve the infinite horizon optimal tracking problems. Using system transformations, the optimal tracking problem is transformed to be an optimal regulation problem. Thereafter, for the regulation system, the new Q-learning algorithm is developed in order to obtain the optimal control law. Convergence of the iterative Q functions and the admissibility of the iterative control law are analyzed. In the end, two corresponding simulation examples are presented to illustrate the performance of the newly developed algorithm.

关键词： optimal control convergence discrete time systems iterative learning control nonlinear control systems

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Backstepping sliding mode force/position control for constrained reconfigurable manipulator based on extended state observer

Backstepping sliding mode force/position control for constra...

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World Congress on Intelligent control and Automation (WCICA)

作者： Shuai Wu Bo Dong Guibin Ding Guogang Wang Guangjun Liu Yuanchun Li Department of control engineering in Changchun University of Technology Changchun China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Department of control engineering in Jilin University Changchun China Department of Aerospace Engineering Ryerson University Toronto Canada

ISBN: (纸本)9781467384155

In this paper, a force/position control method is proposed for constrained reconfigurable manipulators based on extended state observer (ESO). First, the reduced-order dynamic model of the reconfigurable manipulator is formulated in the presence of the external constraint. Second, a backstepping sliding mode force/position controller is designed with extended state observer, which is used to estimate the overall model uncertainty, and the desired position and force can be tracked accurately. The stability of the system is proved by using the Lyapunov theory. Finally, simulations are performed by using the two Dofs of reconfigurable manipulators with different configurations to illustrate the effectiveness of the proposed method.

关键词： Manipulator dynamics Uncertainty Stability analysis Backstepping Observers Force

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Genetic drivers of heterogeneity in type 2 diabetes pathophysiology

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Nature 2024年第8003期627卷 347-357页

作者： Ken Suzuki Konstantinos Hatzikotoulas Lorraine Southam Henry J Taylor Xianyong Yin Kim M Lorenz Ravi Mandla Alicia Huerta-Chagoya Giorgio E M Melloni Stavroula Kanoni Nigel W Rayner Ozvan Bocher Ana Luiza Arruda Kyuto Sonehara Shinichi Namba Simon S K Lee Michael H Preuss Lauren E Petty Philip Schroeder Brett Vanderwerff Mart Kals Fiona Bragg Kuang Lin Xiuqing Guo Weihua Zhang Jie Yao Young Jin Kim Mariaelisa Graff Fumihiko Takeuchi Jana Nano Amel Lamri Masahiro Nakatochi Sanghoon Moon Robert A Scott James P Cook Jung-Jin Lee Ian Pan Daniel Taliun Esteban J Parra Jin-Fang Chai Lawrence F Bielak Yasuharu Tabara Yang Hai Gudmar Thorleifsson Niels Grarup Tamar Sofer Matthias Wuttke Chloé Sarnowski Christian Gieger Darryl Nousome Stella Trompet Soo-Heon Kwak Jirong Long Meng Sun Lin Tong Wei-Min Chen Suraj S Nongmaithem Raymond Noordam Victor J Y Lim Claudia H T Tam Yoonjung Yoonie Joo Chien-Hsiun Chen Laura M Raffield Bram Peter Prins Aude Nicolas Lisa R Yanek Guanjie Chen Jennifer A Brody Edmond Kabagambe Ping An Anny H Xiang Hyeok Sun Choi Brian E Cade Jingyi Tan K Alaine Broadaway Alice Williamson Zoha Kamali Jinrui Cui Manonanthini Thangam Linda S Adair Adebowale Adeyemo Carlos A Aguilar-Salinas Tarunveer S Ahluwalia Sonia S Anand Alain Bertoni Jette Bork-Jensen Ivan Brandslund Thomas A Buchanan Charles F Burant Adam S Butterworth Mickaël Canouil Juliana C N Chan Li-Ching Chang Miao-Li Chee Ji Chen Shyh-Huei Chen Yuan-Tsong Chen Zhengming Chen Lee-Ming Chuang Mary Cushman John Danesh Swapan K Das H Janaka de Silva George Dedoussis Latchezar Dimitrov Ayo P Doumatey Shufa Du Qing Duan Kai-Uwe Eckardt Leslie S Emery Daniel S Evans Michele K Evans Krista Fischer James S Floyd Ian Ford Oscar H Franco Timothy M Frayling Barry I Freedman Pauline Genter Hertzel C Gerstein Vilmantas Giedraitis Clicerio González-Villalpando Maria Elena González-Villalpando Penny Gordon-Larsen Myron Gross Lindsay A Guare Sophie Hackinger Liisa Hakaste Sohee Han Andrew T Hattersley Christian Herder Momoko Horikoshi Annie-Green Howard Willa Centre for Genetics and Genomics Versus Arthritis Centre for Musculoskeletal Research Division of Musculoskeletal and Dermatological Sciences University of Manchester Manchester UK. Department of Diabetes and Metabolic Diseases Graduate School of Medicine University of Tokyo Tokyo Japan. Department of Statistical Genetics Osaka University Graduate School of Medicine Suita Japan. Institute of Translational Genomics Helmholtz Zentrum München German Research Center for Environmental Health Neuherberg Germany. konstantinos.hatzikotoulas@helmholtz-munich.de. Institute of Translational Genomics Helmholtz Zentrum München German Research Center for Environmental Health Neuherberg Germany. Center for Precision Health Research National Human Genome Research Institute National Institutes of Health Bethesda MD USA. British Heart Foundation Cardiovascular Epidemiology Unit Department of Public Health and Primary Care University of Cambridge Cambridge UK. Heart and Lung Research Institute University of Cambridge Cambridge UK. Department of Epidemiology School of Public Health Nanjing Medical University Nanjing China. Department of Biostatistics and Center for Statistical Genetics University of Michigan Ann Arbor MI USA. Corporal Michael J. Crescenz VA Medical Center Philadelphia PA USA. Department of Systems Pharmacology and Translational Therapeutics University of Pennsylvania Perelman School of Medicine Philadelphia PA USA. Department of Genetics University of Pennsylvania Perelman School of Medicine Philadelphia PA USA. Programs in Metabolism and Medical and Population Genetics Broad Institute of Harvard and MIT Cambridge MA USA. Diabetes Unit and Center for Genomic Medicine Massachusetts General Hospital Boston MA USA. TIMI Study Group Division of Cardiovascular Medicine Brigham and Women's Hospital Harvard Medical School Boston MA USA. William Harvey Research Institute Barts and the London School of Medicine and Dentistry Queen Mary University of London L

Type 2 diabetes (T2D) is a heterogeneous disease that develops through diverse pathophysiological processes and molecular mechanisms that are often specific to cell type. Here, to characterize the genetic contribution to these processes across ancestry groups, we aggregate genome-wide association study data from 2,535,601 individuals (39.7% not of European ancestry), including 428,452 cases of T2D. We identify 1,289 independent association signals at genome-wide significance (P < 5 × 10) that map to 611 loci, of which 145 loci are, to our knowledge, previously unreported. We define eight non-overlapping clusters of T2D signals that are characterized by distinct profiles of cardiometabolic trait associations. These clusters are differentially enriched for cell-type-specific regions of open chromatin, including pancreatic islets, adipocytes, endothelial cells and enteroendocrine cells. We build cluster-specific partitioned polygenic scores in a further 279,552 individuals of diverse ancestry, including 30,288 cases of T2D, and test their association with T2D-related vascular outcomes. Cluster-specific partitioned polygenic scores are associated with coronary artery disease, peripheral artery disease and end-stage diabetic nephropathy across ancestry groups, highlighting the importance of obesity-related processes in the development of vascular outcomes. Our findings show the value of integrating multi-ancestry genome-wide association study data with single-cell epigenomics to disentangle the aetiological heterogeneity that drives the development and progression of T2D. This might offer a route to optimize global access to genetically informed diabetes care.

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A 1-dodecanethiol-based phase transfer protocol for the highly efficient extraction of noble metal ions from aqueous phase

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Journal of Environmental Sciences 2015年第3期27卷 146-150页

作者： Dong Chen Penglei Cui Hongbin Cao Jun Yang State Key Laboratory of Multiphase Complex Systems Institute of Process Engineering Chinese Academy of Sciences University of Chinese Academy of Sciences Research Centre for Process Pollution Control Institute of Process Engineering Chinese Academy of Sciences

A 1-dodecanethiol-based phase-transfer protocol is developed for the extraction of noble metal ions from aqueous solution to a hydrocarbon phase, which calls for first mixing the aqueous metal ion solution with an ethanolic solution of 1-dodecanethiol, and then extracting the coordination compounds formed between noble metal ions and 1-dodecanethiol into a non-polar organic solvent. A number of characterization techniques, including inductively coupled plasma atomic emission spectroscopy, Fourier transform infrared spectroscopy, and thermogravimetric analysis demonstrate that this protocol could be applied to extract a wide variety of noble metal ions from water to dichlorometh- ane with an efficiency of 〉96%, and has high selectivity for the separation of the noble metal ions from other transition metals. It is therefore an attractive alternative for the extraction of noble metals from water, soil, or waste printed circuit boards.

关键词： Phase transfer 1-Dodecanethiol Extraction Noble metal ion Efficiency

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Handwritten character recognition based on weighted integral image and probability model 8th

Handwritten character recognition based on weighted integral...

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8th International Conference on Image and Graphics, ICIG 2015

作者： Wu, Jia Da, Feipeng Wang, Chenxing Gai, Shaoyan College of Automation Southeast University Nanjing Jiangsu210096 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Nanjing210096 China

ISBN: (纸本)9783319219622

A system of the off-line handwritten character recognition based on weighted integral image and probability model is built in this paper, which is divided into image preprocessing and character recognition. The objects of recognition are digitals and letters. In the image preprocessing section, an adaptive binarization method based on weighted integral image is proposed, which overcomes the drawbacks in the classic binarization algorithms: noise sensitivity, edge coarseness, artifacts etc.;In the character recognition section, combined with statistical features and structural features, an probability model based on the Bayes classifier and the principle of similar shapes is developed. This method achieves a high recognition rate with rapid processing, strong anti-interference ability and fault tolerance. © Springer International Publishing Switzerland 2015.

关键词： Fault tolerance

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Neural learning enhanced teleoperation control of robots with uncertainties

Neural learning enhanced teleoperation control of robots wit...

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Conference on Human System Interactions, HSI

作者： Chenguang Yang Junshen Chen Long Cheng Zienkiewicz Centre for Computational Engineering SA1 8EN UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

ISBN: (纸本)9781509017300

For most teleoperation tasks, it is desired that the telerobot manipulator follows timely and precisely the reference motion set at the master side. However, the conventional control approach may not guarantee the desired performance when there are dynamic uncertainties, especially when there is a notable variation of the telerobot's payload. In this paper, a neural learning based compensation mechanism has been exploited to overcome the effect of the unknown payload as well as uncertainties associated with the telerobot model and the environment. Guaranteed transient performance has been theoretically established. The deterministic learning technique has been employed, such that the neural learned knowledge can be efficiently reused. We performed comparative experiments and demonstrate the effectiveness of the proposed design techniques.

关键词： Payloads Manipulator dynamics Uncertainty Artificial neural networks Trajectory

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