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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Li, Jiwei Li, Dewei Xi, Yugeng Cen, Lihui Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education Shanghai200240 China Department of Control Engineering Central South University Changsha Hunan Province410083 China

ISBN: (纸本)9783902823625

This paper designs multi-step probabilistic sets for linear, discrete-time, stochastic systems with unbounded multiplicative noise and probabilistic constraints. Multi-step probabilistic sets strengthen IWPp by bringing more degrees of freedom to optimize the applicable region of finite-step probabilistic constraints, and extending the prediction horizon of IWPp to infinity for infinite-horizon probabilistic constraints. Conditions for multi-step probabilistic sets are then incorporated into a stochastic model predictive control algorithm to satisfy probabilistic constraints. Closed-loop mean-square stability is guaranteed by the algorithm. A numerical example shows the performance of the proposed algorithm. © IFAC.

关键词： Stochastic models

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Dynamic anti-windup design for anticipatory activation:enlargement of the domain of attraction

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Science China(information Sciences) 2014年第1期57卷 164-177页

作者： WU XiongJun LIN Zongli Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information ProcessingMinistry of Education of China The 802 Institute of Shanghai Academy of Space Flight Technology The Eighth Academy of China Aerospace Science and Technology Corporation Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

Traditional anti-windup compensators are designed for activation immediately at the occurrence of actuator ***,anti-windup compensators were designed for actuation either after the saturation has reached a certain level or in anticipation of its *** the case of static anti-windup compensators,it has been shown that an anti-windup compensator designed for activation in anticipation of actuator saturation would lead to better performance than those designed for immediate or delayed activation could,both in terms of transient performance and the size of the domain of *** recently,it has been shown that a dynamic anti-windup compensator designed for anticipatory activation would also result in better transient performance than those designed for immediate or delayed activation *** this paper,we design dynamic anti-windup compensators for the enlargement of the domain of *** compensators are designed respectively for immediate,delayed and anticipatory *** will show by simulation that a dynamic anti-windup compensator designed for anticipatory activation would result in a larger domain of attraction than a dynamic anti-windup compensator designed for immediate or delayed activation could.

关键词： actuator saturation anti-windup anticipatory activation domain of attraction dynamic com-pensator

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Adaptive visual servoing using curve features with unknown geometrical parameters

Adaptive visual servoing using curve features with unknown g...

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IEEE International Conference on Robotics and Biomimetics

作者： Maojiao Cai Hesheng Wang Weidong Chen Department of Automation Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (纸本)9781479973989

This paper presents a novel curve image feature description using cubic Bezier curve, which extends the depth-independent image Jacobian matrix to curve features. We derive the image Jacobian matrix that can be linearly parameterized by the unknown curve feature geometrical parameters in the 3-D space. To estimate the unknown parameters online, we propose an adaptive algorithm using the defined curve image features. The control law is designed and the asymptotic stability is analyzed by the Lyapunov theory. There is no need to known the curve parameters or do correspondence matching while visual servoing. Experiment has been conducted to demonstrate the performance of the proposed controller with the curve features.

关键词： Visual servoing Cameras Jacobian matrices Estimation Visualization

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Same controller in all loops controller design for multivariable systems with multiple time delays based on ideal decoupler

Same controller in all loops controller design for multivari...

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Chinese control Conference (CCC)

作者： Wei Zhang Bo Sun Bo Yang Weidong Zhang Department of Automation Key Laboratory of System Control and Information Processing Shanghai China

In this paper, a two-degree-of-freedom (TDOF) control scheme for multi-input/multi-output (MIMO) systems with multiple time delays is proposed. First, a novel inversing decoupler design method based on the ideal decoupling is proposed for decoupling the MIMO system with multiple time delays into several same independent single-input/single output (SISO) systems. Then the H2 proportion-integral-derivative (PID) controller based on the internal model control (IMC) is applied to the obtained SISO systems. Finally, the second controller is developed according to the decoupled closed-loop transfer function. Since the decoupled SISO systems are the same, only one PID controller should be designed for the independent SISO systems. The proposed method can simplify the design task significantly. Moreover, because the TDOF control structure can isolate the disturbance from the reference, the controller of the reference loop can be used to improve the reference response independently. Simulations are provided to illustrate the effectiveness of the proposed design approach.

关键词： Delay effects MIMO Transfer functions process control control systems Optimized production technology Robustness

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A manipulability improving scheme for opening unknown doors with mobile manipulator

A manipulability improving scheme for opening unknown doors ...

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IEEE International Conference on Robotics and Biomimetics

作者： Wei Guo Jingchuan Wang Weidong Chen Department of Automation Key Laboratory of System Control and Information Processing Shanghai China

ISBN: (纸本)9781479973989

The problem of door opening is very fundamental for mobile manipulators operating in domestic environments. In order to successfully achieve the door opening task with wheeled mobile redundant manipulators, a manipulability improving scheme is proposed and investigated in this paper. The scheme treats the wheelchair and the manipulator as a whole system and can improve the manipulator's manipulability when opening the door. And thus remedy the manipulator's manipulability decreasing and/or joint variable' abrupt change as well as the workspace limitations during opening the doors. What's more, the control scheme can drive the wheelchair to move according to the end-effector so as not to collide with the door, and can open door smoothly. Firstly, the velocity of the end-effector is generated with the hybrid position/force control for opening doors, and then the coordinated motion control of mobile platform and the manipulator is adopted to drive the whole system moving to a suitable position to open doors successfully. The control scheme can be used by any mobile manipulator that can be velocity controlled. For verifying the performance of the proposed scheme during opening doors, simulations performed on a wheelchair mounted with a 6-DOF robot arm.

关键词： Manipulators Wheelchairs Force Mobile communication Kinematics Trajectory

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An intelligent switching control for the intervals of concentration and flow-rate of underflow slurry in a mixed separation thickener 19

An intelligent switching control for the intervals of concen...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Chai, Tianyou Li, Haibo Wang, Hong State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China Control System Centre University of Manchester PO Box 88 ManchesterM60 1QD United Kingdom

ISBN: (纸本)9783902823625

The mixed separation thickening process (MSTP) of hematite beneficiation is a strong nonlinear cascade process where the input is the underflow slurry pump speed and the outputs are the inner loop underflow slurry flow-rate (USF) and the outer loop underflow slurry concentration (USC). During its operation, some large random disturbances generated from the flotation middling would cause the underflow slurry flow-rate (USF) to fluctuate frequently, making it outside the technologically specified range. This would decrease the flotation time and cause the unexpected level fluctuations of flotation machines, leading to the deterioration of the concentration grade. In this paper, a cascade control structure based upon the USC and USF intervals is proposed for such an un-modellable nonlinear cascade process, where the fuzzy control, rule-based reasoning, switching control and cascade control are combined together. A novel intelligent switching control method is established that includes a USF presetting unit via system static model, a fuzzy reasoning based USF set-point compensator, a maintainer of USF set-point and a switching mechanism using rule based reasoning. The successful application to a real hematite concentration plant has shown the effectiveness of the proposed method. In particular, the real application has shown that the proposed method can ensure the USC, the USF and the fluctuation of its rate of change within their target ranges when the process is subject to the flotation middling random disturbance. As a result, the concentration grade has been much improved. © IFAC.

关键词： Switching

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Erratum to “Opinion dynamics of modified Hegselmann–Krause model in a group-based population with heterogeneous bounded confidence” [Physica A 419 (2015) 558–565]

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Physica A: Statistical Mechanics and its Applications 2015年 425卷 90-90页

作者： Guiyuan Fu Department of Automation Shanghai Jiaotong University and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China

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Adaptive bat algorithm for toy model of protein folding

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Journal of Bionanoscience 2014年第5期8卷 360-363页

作者： Cai, Xingjuan Li, Wuzhao Kang, Qi Wang, Lei Wu, Qidi Department of Control Science and Engineering Tongji University Shanghai201804 China Complex System and Computational Intelligence Laboratory Taiyuan University of Science and Technology Shanxi030024 China Department of Electrical and Mechanical Engineering Jiaxing Vocational Technical College Jiaxing314036 China Shanghai Key Laboratory of Financial Information Technology Shanghai200433 China

Bat algorithm is a novel swarm intelligent algorithm inspired by the echolocation behavior of bats with varying pulse rates of emission and loudness. In this paper, a new variant which is called adaptive bat algorithm is designed and applied to solve the toy model prediction problem. In this algorithm, a linearly dynamic pulse rate selection strategy is designed. To test the performance, short sequences, Fibonacci sequence and real protein sequences are selected to compare, simulation results show adaptive bat algorithm is validity. Copyright © 2014 American Scientific Publishers.

关键词： Proteins

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Fault subspace selection and analysis of relative changes based reconstruction modeling for multi-fault diagnosis

Fault subspace selection and analysis of relative changes ba...

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第26届中国控制与决策会议

作者： Chunhui Zhao State Key Laboratory of Industrial Control Technology Department of Control Science and EngineeringZhejiang University Key Laboratory of System Control and Information Processing Ministry of Education

Online fault diagnosis has been a crucial task for industrial processes. Reconstruction-based fault diagnosis has been drawing special attentions as a good alternative to the traditional contribution plot. It identifies the fault cause by finding the specific fault subspace that can well eliminate alarming signals from a bunch of alternatives that have been prepared based on historical fault data. However, in practice, the abnormality may result from the joint effects of multiple faults, which thus can not be well corrected by single fault subspace archived in the historical fault library. In the present work, an aggregative reconstruction-based fault diagnosis strategy is proposed to handle the case where multiple fault causes jointly contribute to the abnormal process behaviors. First, fault subspaces are extracted based on historical fault data in two different monitoring subspaces where analysis of relative changes is taken to enclose the major fault effects that are responsible for different alarming monitoring statistics. Then, a fault subspace selection strategy is developed to analyze the combinatorial fault nature which will sort and select the informative fault subspaces that are most likely to be responsible for the concerned abnormalities. Finally, an aggregative fault subspace is calculated by combining the selected fault subspaces which represents the joint effects from multiple faults and works as the final reconstruction model for online fault diagnosis. Theoretical support is framed and the related statistical characteristics are analyzed. Its feasibility and performance are illustrated with simulated multi-faults using data from the Tennessee Eastman(TE) benchmark process.

关键词： fault subspace selection,joint fault effects,multi-fault diagnosis,reconstruction modeling,analysis of relative changes

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Estimates, trends, and drivers of the global burden of type 2 diabetes attributable to PM_2·5 air pollution, 1990–2019: an analysis of data from the Global Burden of Disease Study 2019

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The Lancet Planetary Health 2022年第7期6卷 e586-e600页

作者： Burkart, Katrin Causey, Kate Cohen, Aaron J Wozniak, Sarah S Salvi, Devashri Digvijay Abbafati, Cristiana Adekanmbi, Victor Adsuar, Jose C Ahmadi, Keivan Alahdab, Fares Al-Aly, Ziyad Alipour, Vahid Alvis-Guzman, Nelson Amegah, Adeladza Kofi Andrei, Catalina Liliana Andrei, Tudorel Ansari, Fereshteh Arabloo, Jalal Aremu, Olatunde Aripov, Timur Babaee, Ebrahim Banach, MacIej Barnett, Anthony Bärnighausen, Till Winfried Bedi, Neeraj Behzadifar, Masoud Béjot, Yannick Bennett, Derrick A Bensenor, Isabela M Bernstein, Robert S Bhattacharyya, Krittika Bijani, Ali Biondi, Antonio Bohlouli, Somayeh Breitner, Susanne Brenner, Hermann Butt, Zahid A Cámera, Luis Alberto Cantu-Brito, Carlos Carvalho, Felix Cerin, Ester Chattu, Vijay Kumar Chauhan, Bal Govind Choi, Jee-Young Jasmine Chu, Dinh-Toi Dai, Xiaochen Dandona, Lalit Dandona, Rakhi Daryani, Ahmad Davletov, Kairat De Courten, Barbora Demeke, Feleke Mekonnen Denova-Gutiérrez, Edgar Dharmaratne, Samath Dhamminda Dhimal, Meghnath Diaz, Daniel Djalalinia, Shirin Duncan, Bruce B El Sayed Zaki, Maysaa Eskandarieh, Sharareh Fareed, Mohammad Farzadfar, Farshad Fattahi, Nazir Fazlzadeh, Mehdi Fernandes, Eduarda Filip, Irina Fischer, Florian Foigt, Nataliya A Freitas, Marisa Ghashghaee, Ahmad Gill, Paramjit Singh Ginawi, Ibrahim Abdelmageed Gopalani, Sameer Vali Guo, Yuming Gupta, Rajat Das Habtewold, Tesfa Dejenie Hamadeh, Randah R Hamidi, Samer Hankey, Graeme J Hasanpoor, Edris Hassen, Hamid Yimam Hay, Simon I Heibati, Behzad Hole, Michael K Hossain, Naznin Househ, Mowafa Irvani, Seyed Sina Naghibi Jaafari, Jalil Jakovljevic, Mihajlo Jha, Ravi Prakash Jonas, Jost B Jozwiak, Jacek Jerzy Kasaeian, Amir Kaydi, Neda Khader, Yousef Saleh Khafaie, Morteza Abdullatif Khan, Ejaz Ahmad Khan, Junaid Khan, Md Nuruzzaman Khatab, Khaled Khater, Amir M Kim, Yun Jin Kimokoti, Ruth W Kisa, Adnan Kivimäki, Mika Knibbs, Luke D Kosen, Soewarta Koul, Parvaiz A Koyanagi, Ai Defo, Barthelemy Kuate Kugbey, Nuworza Lauriola, Paolo Lee, Paul H Leili, Mostafa Lewycka, Sonia Li, Shanshan Lim, Lee-Ling Li Institute for Health Metrics and Evaluation University of Washington Seattle WA United States Department of Health Metrics Sciences School of Medicine University of Washington Seattle WA United States Division of Plastic and Reconstructive Surgery University of Washington Seattle WA United States Research Insights and Innovation Seattle WA United States Health Effects Institute Boston MA United States School of Public Health Boston University Boston MA United States Department of Juridical and Economic Studies La Sapienza University Rome Italy Department of Population Medicine Cardiff University Cardiff United Kingdom Sport Science Department University of Extremadura Badajoz Spain School of Public Health Imperial College London London United Kingdom Department of Primary Care and Public Health Imperial College London London United Kingdom Mayo Evidence-based Practice Center Mayo Clinic Foundation for Medical Education and Research Rochester MN United States John T. Milliken Department of Internal Medicine Washington University in St. Louis St. Louis MO United States Clinical Epidemiology Center US Department of Veterans Affairs (VA) St Louis MO United States Health Management and Economics Research Center Iran University of Medical Sciences Tehran Iran Department of Health Economics Iran University of Medical Sciences Tehran Iran Preventive Medicine and Public Health Research Center Iran University of Medical Sciences Tehran Iran Pars Advanced and Minimally Invasive Medical Manners Research Center Iran University of Medical Sciences Tehran Iran Department of Community and Family Medicine Iran University of Medical Sciences Tehran Iran Research Group in Hospital Management and Health Policies Universidad de la Costa (University of the Coast) Barranquilla Colombia Research Group in Health Economics University of Cartagena Cartagena Colombia Department of Biomedical Science University of Cape Coast Cape Coast Ghana Cardiology Department Ca

Background: Experimental and epidemiological studies indicate an association between exposure to particulate matter (PM) air pollution and increased risk of type 2 diabetes. In view of the high and increasing prevalence of diabetes, we aimed to quantify the burden of type 2 diabetes attributable to PM_2·5 originating from ambient and household air pollution. Methods: We systematically compiled all relevant cohort and case-control studies assessing the effect of exposure to household and ambient fine particulate matter (PM_2·5) air pollution on type 2 diabetes incidence and mortality. We derived an exposure–response curve from the extracted relative risk estimates using the MR-BRT (meta-regression—Bayesian, regularised, trimmed) tool. The estimated curve was linked to ambient and household PM_2·5 exposures from the Global Burden of Diseases, Injuries, and Risk Factors Study 2019, and estimates of the attributable burden (population attributable fractions and rates per 100 000 population of deaths and disability-adjusted life-years) for 204 countries from 1990 to 2019 were calculated. We also assessed the role of changes in exposure, population size, age, and type 2 diabetes incidence in the observed trend in PM_2·5-attributable type 2 diabetes burden. All estimates are presented with 95% uncertainty intervals. Findings: In 2019, approximately a fifth of the global burden of type 2 diabetes was attributable to PM_2·5 exposure, with an estimated 3·78 (95% uncertainty interval 2·68–4·83) deaths per 100 000 population and 167 (117–223) disability-adjusted life-years (DALYs) per 100 000 population. Approximately 13·4% (9·49–17·5) of deaths and 13·6% (9·73–17·9) of DALYs due to type 2 diabetes were contributed by ambient PM2·5, and 6·50% (4·22–9·53) of deaths and 5·92% (3·81–8·64) of DALYs by household air pollution. High burdens, in terms of numbers as well as rates, were estimated in Asia, sub-Saharan Africa, and South Am

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