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54th Annual Conference of the Society of Instrument and Control Engineers of Japan, SICE 2015

作者： Yongkun, Wang Zhongxin, Liu Mingwei, Sun Zengqiang, Chen Department of Automation Nankai University Tianjin300071 China Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University Tianjin300071 China

ISBN: (纸本)9784907764487

Conventional proportional navigation or augmented proportional navigation guidance laws are widely used for intercepting maneuverable targets;however, they are effective only in intercepting a target with a constant velocity or a known acceleration. In this paper, a continuous second-order sliding mode guidance law is designed to intercept a highly maneuverable target in connection with the super-twisting algorithm. Meanwhile, the target maneuver information, regarded as unpredictable disturbance, is coped with by an extended state observer (ESO) and then is compensated in the guidance law. In the proposed guidance scheme, no information about target motion is needed. The closed-loop error can be guaranteed to be bounded by using Lyapunov method. The simulation results demonstrate the effectiveness and robustness of the proposed guidance method against a highly maneuverable target. © 2015 The Society of Instrument and Control Engineers-SICE.

关键词： Lyapunov methods

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Effects of carbon dioxide on different PSK modulation formats of Optical Wireless Communications using USRP

Effects of carbon dioxide on different PSK modulation format...

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International Conference on Transparent Optical Networks

作者： Jan Vitasek Radek Martinek Ales Vanderka Lukas Hajek Jan Latal Zhenli Lu Bin Li Department of Telecommunications VSB-Technical University of Ostrava Ostrava Czech Republic Department of Cybernetics and Biomedical Engineering VSB-Technical University of Ostrava Ostrava Czech Republic Department of Telecommunications Faculty of Electrical Engineering and Computer Science VSB-Technical University of Ostrava 17. listopadu 15 708 33 Czech Republic State key Laboratoryof Robotics Chinese Academy of Sciences Shenyang China School of Electrical Engineering and Automation Changshu Instituteof Technology Changshu China

ISBN: (纸本)9781509014682

This article explores the influence of the concentrated carbon dioxide (CO 2 ) gas on the different Phase Shift Keying (PSK) modulations used for Optical Wireless Communication (OWC) links. In this work, the OWC consisted of a laser diode, a photodetector, and a transmission medium. The Universal Software Radio Peripheral (USRP) unit created and evaluated the PSK modulations. This unit modulated the laser diode on the transmitter side and demodulated the data which were received by the photodetector on the receiver side. The CO 2 gas was emitted as a consequence of sublimation of the solid carbon dioxide in hot water. The measurements were done in a closed box in laboratory. The CO 2 gas is a one element of smog which pollutes cities now and then. Our experimental results with CO 2 gas could help to choose a suitable modulation scheme for OWC which are installed in cities with smog-polluted atmospheric conditions.

关键词： Phase shift keying Carbon dioxide Optical receivers Diode lasers Integrated optics Optical transmitters

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LSSLP – Local structure sensitive label propagation

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Information Sciences 2016年 332卷 19-32页

作者： Zhenfeng Zhu Jian Cheng Yao Zhao Jieping Ye Institute of Information Science Beijing Jiaotong University Beijing 100044 China Beijing Key Laboratory of Advanced Information Science and Network Technology Beijing 100044 China National Laboratory of Pattern Recognition Institute of Automation Chinese Academy of Sciences (CAS) 100190 China Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor MI 48109-2218 USA

Label propagation is an approach to iteratively spread the prior state of label confidence associated with each of samples to its neighbors until achieving a global convergence state. Such process has been shown to hold close connection with a general graph-based regularization framework. Within this framework, a closed- form linear system can be built to carry out label propagation. In this paper, to address several issues inherent with previous graph-based label propagation framework, we propose a reformulated one, i.e., local structure sensitive label propagation ( LSSLP ). By associating each graph vertex with a local structure sensitive tuning factor, the empirical loss error on each vertex can be controlled preferably to keep consistent with the commonly preconditioned ‘ cluster assumption ’ of data structure. Out of consideration for information conservation, we relax the state conservation constraint of label confidence from labeled samples proposed by Belkin et al. (2004) to a more general form. Meanwhile, an inverse-warping procedure is incorporated into the proposed local structure sensitive label propagation framework to maintain large and stable enough classification margin. Based on the felicitous inversion technique for blocked matrix, we extend LSSLP to its incremental and inductive versions and also present computationally efficient implementation of it. Experimental results demonstrate the performance of the reformulated regularization framework for label propagation is much competitive.

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Smooth state feedback stabilization for a class of planar switched nonlinear systems under arbitrary switching

Smooth state feedback stabilization for a class of planar sw...

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World Congress on Intelligent Control and automation (WCICA)

作者： Xiangze Lin Shuaiting Huang Chunjiang Qian Shihua Li College of Engineering Nanjing Agricultural University/Jiangsu Key Laboratory for Intelligent Agricultural Equipment Nanjing China Department of Electrical and Computer Engineering University of Texas at San Antonio San Antonio TX USA School of Automation Southeast University Nanjing P. R. China

ISBN: (纸本)9781467384155

Smooth state feedback stabilization for a family of planar switched nonlinear systems is addressed. Based on the approach called adding a power integrator, the task of finding a common Lyapunov function and that of designing state stabilizing feedback laws for the switched nonlinear system whose subsystems may have uncontrollable/unobservable Jacobian linearization are solved simultaneously. Globally asymptotical stabilization of the switched nonlinear system under arbitrary switchings is achieved by the state feedback control. Numerical examples are employed to verify the efficiency of the proposed method.

关键词： Switches State feedback Nonlinear systems Switched systems Lyapunov methods Stability analysis

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Nanoscale monitoring of drug actions on cell membrane using atomic force microscopy

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中国药理学报（英文版） 2015年第7期36卷 769-782页

作者： Mi LI Lian-qing LIU Ning XI Yue-chao WANG State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 USA

Knowledge of the nanoscale changes that take place in individual cells in response to a drug is useful for understanding the drug action. However, due to the lack of adequate techniques, such knowledge was scarce until the advent of atomic force microscopy (AFM), which is a multifunctional tool for investigating cellular behavior with nanometer resolution under near-physiological conditions. In the past decade, researchers have applied AFM to monitor the morphological and mechanical dynamics of individual cells following drug stimulation, yielding considerable novel insight into how the drug molecules affect an individual cell at the nanoscale. In this article we summarize the representative applications of AFM in characterization of drug actions on cell membrane, including topographic imaging, elasticity measurements, molecular interaction quantification, native membrane protein imaging and manipulation, etc. The challenges that are hampering the further development of AFM for studies of cellular activities are aslo discussed.

关键词： atomic force microscopy single-cell technique nanometer scale drug-target interaction cell mechanics cell elasticity

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An analysis of sampling effect on bilateral teleoperation system transparency 34

An analysis of sampling effect on bilateral teleoperation sy...

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34th Chinese Control Conference, CCC 2015

作者： Ting, Yang Fu, Yi Li Tavakoi, Mahdi State Key Laboratory of Robotics and Systems Harbin Institute of Technology Harbin Heilongjiang China Department of Electrical and Computer Engineering University of Alberta EdmontonAB Canada

ISBN: (纸本)9789881563897

The performances of continuous-time controlled and discrete-time controlled bilateral teleoperation systems are mathematically and experimentally studied and compared. The results show that under stability conditions, continuous-time controlled teleoperation systems have hybrid matrix parameters that are closer to their ideal values than their discrete-time controlled counterparts. This means better force tracking and position tracking performance under continuous-time control, which can lead to better task performance. © 2015 Technical Committee on Control Theory, Chinese Association of automation.

关键词： Bilateral teleoperation continuous-time control discrete-time control hybrid parameters system performance

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Smart grid data analysis and prediction modeling

Smart grid data analysis and prediction modeling

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IEEE International Conference on Progress in Informatics and Computing (PIC)

作者： Hang Yang Ping Li Anum Masood Yuning Xiao Bin Sheng Qichen Yu Information Department China Southern Power Grid Guangzhou Guangdong China Department of Mathematics and Information Technology Education University of Hong Kong Hong Kong China Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai China Department of Computer Science COMSATS Institute of Information Technology WahCantt Pakistan State Key Laboratory of Computer Science Chinese Academy of Sciences Beijing China Department of electrical engineering and automation Shanghai Jiao Tong University Shanghai China

ISBN: (纸本)9781509034857

With the rapid development of power grid, prediction of electric quantity changes has become increasingly important. High-performance power grid systems can improve economic effectiveness and operational efficiency through accurate prediction. This paper proposes a prediction model based on temperature, humidity, time, and the number of people. On account of the standards of support vector machine (SVM) and the HBase platform, we have implemented a forecasting model and designed simulative experiments. The experimental results show that time and variation in the number of people has a remarkable influence on prediction, while temperature and humidity hardly have any effects.

关键词： Humidity Support vector machines Training Temperature Power grids Environmental factors Distributed databases

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Rewinding Strategy Aided by FEA as a Solution to Increase Efficiency of Industrial Motors

Rewinding Strategy Aided by FEA as a Solution to Increase Ef...

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International Conference on electrical Machines

作者： V. P. B. Aguiar R. S. T. Pontes T. R. Fernandes Neto F. J. T. E. Ferreira Motor Driven Systems Laboratory Department of Electrical Engineering Federal University of Ceará Fortaleza CE 60440554 Brazil Institute of Systems and Robotics Department of Electrical and Computer Engineering University of Coimbra Coimbra Portugal

ISBN: (纸本)9781509025398

This paper presents a proper model and methodology to improve the efficiency class of a squirrel-cage induction motor during rewinding. The modeling approach is based on the finite element model, i.e. two-dimensional model coupled with the rotor equivalent circuit (first stage) and the stator equivalent circuit (second stage). Results obtained with finite element analysis are compared with those obtained with analytical calculations. It is demonstrated that, during rewinding, if an improved winding configuration is used, efficiency gains can be obtained, allowing to improve the efficiency class of the motor, from IE2 to IE3, respecting the specified limits of NEMA & IEC performance indicators, namely, breakdown torque, locked-rotor torque, and locked-rotor current. In 79% of the simulated cases the efficiency gain allowed the studied motor to reach the IE3 class.

关键词： Finite element analysis Equivalent circuits IEEE standards IEC standards ANSI standards Stator Induction motors Electromagnetic modeling Frequency-domain analysis

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A Generalized Piecewise Quadratic Lyapunov Function Approach to Estimating the Domain of Attraction of a Saturated System

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IFAC-PapersOnLine 2015年第11 11期48卷 120-125页

作者： Li, Yuanlong Lin, Zongli Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai200240 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia CharlottesvilleVA22904-4743 United States

This paper revisits the problem of estimating the domain of attraction of a saturated system with an algebraic loop. A piecewise quadratic Lyapunov function of an augmented state vector composing of the system state and the saturated input has been proposed for use in estimating the domain of attraction for a saturated system. Considering the relationship between the system states and the saturation function, we propose in this paper a generalized piecewise quadratic Lyapunov function, which results from adding a term that characterizes the regional sector condition of the saturated input to the piecewise quadratic Lypunov function. The matrix associated with the generalized piecewise quadratic Lyapunov function is not required to be positive definite, and thus a set of less conservative stability conditions are established, from which a larger estimate of the domain of attraction can be obtained. Simulation results indicate that the effectiveness and superiority of the proposed method. © 2015

关键词： Lyapunov functions Domain of attraction Input saturation Piece wise quadratic Lyapunov function Positive definite Saturated systems Saturation function Sector condition Stability condition

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Optimal search strategies for pollutant source localization

Optimal search strategies for pollutant source localization

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Behzad Bayat Naveena Crasta Howard Li Auke Ijspeert BioRobotics Laboratory Ecole Polytechnique Federale de Lausanne (EPFL) Switzerland Institute for Systems and Robotics (ISR) Instituto Superior Tecnico (IST) University of Lisbon Portugal COBRA Department of Electrical and Computer Engineering University of New Brunswick Fredericton E3B 5A3 Canada

ISBN: (纸本)9781509037636

This paper is aimed at developing optimal motion planning for a single autonomous surface vehicle (ASV) equipped with an on-board pollutant sensor that will maximize the sensor-related information available for source seeking. The ASV uses a nonlinear diffusion model of the pollutant source to estimate the intensity/level of the pollution at the present ASV location. The rate of detection of particles depends on the relative distance between the ASV and the source. First, we use a probabilistic map of the source location built through the sensor information for a dynamic motion planning of source seeking based on an entropy reduction formulation, where an appropriately defined Fisher information matrix (FIM) is used for entropy reduction or information gain. We derive the FIM for the set-up and investigate optimal trajectories. Next, we present an online nonlinear Monte Carlo algorithm that uses the obtained sensor information about pollutant at different vehicle locations to update a probabilistic uncertainty map of pollutant source location. As the mission unfolds the ASV motion is computed by considering a moving-horizon interval of decision, which will allow for the inclusion of new information available for optimal motion planning. The proposed motion planning approach is extended to take into account external disturbances and it is able to minimize the uncertainty in the pollutant source. Finally, we provide two case studies to demonstrate efficacy of the proposed motion planning algorithm.

关键词： Position measurement Pollution measurement Uncertainty Planning Probabilistic logic Robot sensing systems Pollution

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