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2014 International Conference on Applied Mechanics, Mechatronics and Intelligent System, AMMIS 2014

作者： Liu, Yong Kui Zhang, Lin Tao, Fei Wang, Long School of Automation Science and Electrical Engineering Beihang University 100191 Beijing China School of Mechano-electronic Engineering Xidian University 710071 Xi'an China Center for Systems and Control State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China

ISBN: (纸本)9783038351757

With the rapid growth of Web services on the Internet, the atomic Web services as nodes and their functionality dependency relationships as edges form a complex Web service network. Various interactions between Web services can occur along the edges, such as collaboration, competition and substitution, etc. So far, however, there lack of an effective and scalable model for generating Web service interaction networks capturing the aforementioned types of interactions, which hinders the relevant researches such as development of new service composition algorithms and the investigation of evolution mechanisms of service networks. In this paper, we propose a model which is able to generate two types of Web service interaction networks, namely complementary Web service interaction network (CWSIN) and similar Web service interaction network (SWSIN). We show that CWSIN exhibits some of the typical characteristics reported in the previous empirical studies. © (2014) Trans Tech Publications, Switzerland.

关键词： complex networks

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Experiments of a human-robot social interactive system with whole-body movements 20

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20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014

作者： Ma, Gan Huang, Qiang Yu, Zhangguo Chen, Xuechao Zhang, Weimin Gao, Junyao Duan, Xingguang Shi, Qing IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China

ISBN: (纸本)9783319070575

One crucial problem for a humanoid service robot is to be able to communicate with humans naturally. This study focuses on this issue and develops a social interactive system for a humanoid robot to interact with human beings. The interactive system features hearing, voice conversation, and facial and full body emotional expression capability. Experiments are conducted on the robot to interact with humans in a real human indoor environment, and the effectiveness of the system is evaluated. © Springer International Publishing Switzerland 2014.

关键词： Anthropomorphic robots

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HCLC integration design and high-precision control of a joint for space manipulator 20

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20th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, ROMANSY 2014

作者： Jiang, Zhihong Li, Hui Dong, Que Zhang, Xiaodong Tang, Zixing Rao, Wei Mo, Yang Ji, Chenjun Huang, Qiang IRI School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory of Biomimetic Robots and Systems Ministry of Education Beijing Institute of Technology Beijing China Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Institute of Spacecraft System Engineering CAST Beijing China

ISBN: (纸本)9783319070575

A novel method is presented to solve many problems of joints for space manipulator, such as large volume, large flexibility, complex routing and low system-control precision, which can realize integrated design for space manipulator joint with high-cohesion and low-coupling (HCLC) performance. Moreover, the mechanical and electrical interfaces of designed joint are especially suitable for space manipulator. First, To achieve higher system performance, the joint is designed as a whole for perfect match among components including permanent magnet synchronous motor (PMSM), motor controller and driver, sensors, space environment controller, reducer, routing and other mechanisms, which could eliminate redundant shell packages and mounting surfaces existed in traditional manipulator joint. Second, a new method is presented to design the rotors of two resolvers as joint sensors at the same axis shared with motor rotor, this kind of design has the advantages of redundant and high-precision sensing for the positions of motor rotor and joint, and joint position signal is differential sensing and has high robustness. Then, a kind of high-precision controller is presented for space manipulator based on a new PMSM model with model difference, and this controller is robust to joint nonlinear factors, such as friction and other disturbance torque. Finally, the experimental results showed the designed joint had fine performances with high power density, high controlling precision and high operation stability and so on, and it is suitable for the application of space manipulator. © Springer International Publishing Switzerland 2014.

关键词： controllers

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Finite-time saturated controller design for straight line navigation of an agricultural tractor 33

Finite-time saturated controller design for straight line na...

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Proceedings of the 33rd Chinese control Conference, CCC 2014

作者： Jiang, Yuexia Ding, Shihong Zhao, Dean Ji, Wei School of Electrical and Information Engineering Jiangsu University Zhenjiang212013 China Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education Southeast University Nanjing210096 China

ISBN: (纸本)9789881563842

Finite-time control systems usually have better disturbance rejection property and faster convergence performance. For the linearized dynamics of the linear navigation system of an agricultural tractor, a novel control algorithm based on finite-time control technique and saturation method is proposed. Based upon the presented method, the finite-time saturated controller is designed for the linear navigation of an agricultural tractor, and the global stability for the closed loop system is proved. Meanwhile, the selection of parameters in saturated controller just requires some simple mathematical relationships, and the control method has some potential practical applications. Simulation results also verify the effectiveness of the proposed method. © 2014 TCCT, CAA.

关键词： Tractors (agricultural)

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Phototherapy: Metal–Organic‐Framework‐Derived Mesoporous Carbon Nanospheres Containing Porphyrin‐Like Metal Centers for Conformal Phototherapy (Adv. Mater. 38/2016)

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Advanced Materials 2016年第38期28卷

作者： Shunhao Wang Lu Shang Linlin Li Yingjie Yu Chongwei Chi Kun Wang Jie Zhang Run Shi Heyun Shen Geoffrey I. N. Waterhouse Sijin Liu Jie Tian Tierui Zhang Huiyu Liu Beijing Key Laboratory of Bioprocess Beijing Advanced Innovation Center for Soft Matter Science and Engineering Beijing Laboratory of Biomedical Materials Beijing University of Chemical Technology Beijing 100029 P. R. China Key Laboratory of Photochemical Conversion and Optoelectronic Materials Technical Institute of Physics and Chemistry Chinese Academy of Sciences Beijing 100190 P. R. China State Key Laboratory of Environmental Chemistry and Ecotoxicology Research Center for Eco‐Environmental Sciences Chinese Academy of Sciences Beijing 100085 P. R. China University of Chinese Academy of Sciences Beijing 100049 P. R. China Beijing Institute of Nanoenergy and Nanosystems National Center for Nanoscience and Technology (NCNST) Chinese Academy of Sciences Beijing 100083 P. R. China Department of Materials Science and Engineering State University of New York at Stony Brook Stony Brook NY 11790 USA Key Laboratory of Molecular Imaging The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 P. R. China School of Chemical Sciences The University of Auckland Auckland 1142 New Zealand

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Mars entry trajectory tracking via constrained multi-model predictive control

Mars entry trajectory tracking via constrained multi-model p...

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Chinese control Conference (CCC)

作者： Chao Wu Shihua Li Jun Yang Lei Guo Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of Education School of Automation Southeast University Nanjing Jiangsu CN School of Automation Science and Electrical Engineering Beihang University & Institute of Instrument Science and Opto-Electronics Engineering Beijing CN

Tracking law designed for future Mars entry missions is investigated in this article. For precision landing, the nonlinear entry dynamics, complex uncertainties and input saturation constraints are unavoidable problems. Facing these challenges, the Mars entry trajectory tracking scheme via constrained multi-model predictive control (CMPC) is employed. The CMPC is made up of some constrained predictive control (CPC) in different time domain during the Mars entry mission. Each constrained predictive controller consists of a linearized prediction model (obtained by linearizing at different operating point), feedback correction for active model mismatch rejection caused by the complex uncertainties, and constrained rolling optimization for a smooth control input under a saturation constraint. Monte Carlo simulations demonstrate the effectiveness and excellence of the proposed method under the saturation constraint of input and uncertainties of initial state and aerodynamic parameters such as atmospheric density, ballistic coefficient and lift-to-drag ratio.

关键词： Mars Aerodynamics Uncertainty Trajectory Predictive models Vehicles Predictive control

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Computational Experiments Based on Competitive Influence Diffusion Model

Computational Experiments Based on Competitive Influence Dif...

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2014 IEEE International Conference on Service Operations and Logistics,and Informatics

作者： Kainan Cui Xiaolong Zheng The School of Electronic and Information Engineering Xi'an Jiaotong University The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

Understanding the strategies to optimize/suppress information spreads under intense competition could provide important insights in a broad range of settings including viral marketing,emergency response and information system ***,most of existing studies about competitive influence diffusion mainly focus on two-information competition *** date,the competitive influence maximization problem considering the mechanism of multi-information competition is still not well *** this paper,we conducted computational experiments to study the competitive influence maximization with multi-information competition *** applying an information diffusion model called limited attention model(LAM),we carried on two computational experiments to validate the model and investigate the relation between seed selection methods and the properties of information *** experimental results show that 1)the LAM model could reproduce the features of empirical distribution in Chinese social media;2)the eigenvector centrality-based heuristic is a reasonable seed selection method for competitive influence maximization *** results of this paper can provide significant potential implications for information system design and management.

关键词： computational experiments information diffusion competitive influence maximization social media

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An object recognition approach based on structural feature for cluttered indoor scene

An object recognition approach based on structural feature f...

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IEEE International Conference on Networking, Sensing and control

作者： Wenbo Yuan Zhiqiang Cao Peng Zhao Min Tan Yuequan Yang State Key Laboratory of Management and Control for Complex Systems Institute of Automation CAS Beijing China College of Information Engineering Yangzhou University Yangzhou China

In this paper, aiming at the indoor scene under monitoring by visual sensor network (VSN), an object recognition approach based on structural feature is presented. Firstly, we regard the output of existing line segment detector LSD with proper parameters as the preliminary extraction result and it still will be further restored and split. Then, we give an inference model based on structural features of object including line segment ontology characteristics and relative relationship between the line segments. Finally, the objects are recognized with position information through inference. The effectiveness of the approach is verified, and the results show that our approach does not rely on segmentation and has robustness on partial defect and structural deformation to some extent.

关键词： Image segmentation Robot sensing systems Monitoring Image recognition

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Thermal instability of a nonhomogeneous power-law nanofluid in a porous layer with horizontal throughflow

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Journal of Non-Newtonian Fluid Mechanics 2014年 213卷 50-56页

作者： Jianhong Kang Fubao Zhou Wenchang Tan Tongqiang Xia Key Laboratory of Gas and Fire Control for Coal Mines School of Safety Engineering China University of Mining and Technology Xuzhou 221116 China State Key Laboratory for Turbulence and Complex Systems College of Engineering Peking University Beijing 100871 China State Key Laboratory for Geomechanics and Deep Underground Engineering China University of Mining and Technology Xuzhou 221116 China

Despite the experimental observation of shear-thinning rheological behavior depending on the nanoparticle volume fraction, nanofluids were treated as either Newtonian or viscoelastic fluids in previous studies on thermal convection. In this work, taking into account the shear-thinning rheology, Brownian diffusion and thermophoresis of nanofluids, the onset of thermal convection in a nonhomogeneous nanofluid-saturated porous layer with throughflow is investigated. The power-law model is adopted to describe the shear-thinning behavior of nanofluids. The combined effects of Lewis number, Péclet number and power-law index on the thermal instability are analyzed. It is found that the most unstable perturbations are transverse rolls, and both traveling-wave and oscillatory modes may occur. The critical Rayleigh number can be significantly reduced or increased with the increasing power-law index, mainly depending on the value of Péclet number. Furthermore, the decrease of Lewis number can promote or suppress the onset of thermal convection, depending on whether the nanoparticle distribution at the basic state is bottom-heavy or top-heavy.

关键词： Nanofluid Shear thinning Power-law model Thermal instability

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Research on an axial-axial flux compound-structure PMSM with varying air gap to fulfill field-weakening control

Research on an axial-axial flux compound-structure PMSM with...

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International Conference on Electrical Machines and systems (ICEMS)

作者： Jing Zhao Yashuang Yan Zhongxin Gu Zhen Chen Ping Zheng Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing China Department of Electrical Engineering Harbin Institute of Technology Harbin China

ISBN: (纸本)9781479951635

A compound-structure permanent-magnet synchronous machine (CS-PMSM), which integrates two PMSMs, is a hybrid electric vehicle (HEV) power train concept. In order to meet the requirement of wide speed range of HEV, an axialaxial flux CS-PMSM with a new mechanical method of varying air gap to fulfill field-weakening control and to improve the operating speed range is investigated. The field-weakening principle of the axial-axial flux CS-PMSM with varying air gap is analyzed. The electromagnetic performances with air gaps varying are evaluated by 3D finite-element method (FEM). The principle of selecting original air gap is proposed with comprehensive consideration. The field weakening capability by varying air gap is evaluated based on the comparison with two other electric methods.

关键词： Air gaps Couplings Torque Stators Magnetic flux Hybrid electric vehicles Rotors

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