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IEEE International Conference on robotics and Biomimetics

作者： Chuang Zhang Shuangxi Xie Wenxue Wang Ning Xi Yuechao Wang Lianqing Liu State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China and University of Chinese Academy of Sciences Beijing 100049 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Science Shenyang 10016 China Department of Electrical and Computer Engineering Michigan State University East Lansing Michigan 48824 USA State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China

ISBN: (纸本)9781467396769

Advancement in micro/nano-technology has improved the development of bio-syncretic micro-manipulators. But there are still some challenges including the efficiency, precision and flexibility that constrain the application of micro-manipulators. In this work, a bio-tweezer system is proposed that could flexibly manipulate micro objects in three dimensions with opto-induced bio-actuation by high-density microorganisms. Based on the Langevin equation, a mathematical model considering the hydrodynamics and similar Brownian motion principle was proposed to analyze the performance of manipulation, and, was verified by implementing the experiments to move micro particles in the two-dimension plane and to rotate asymmetrical objects around one axis. This work is helpful for quantitative understanding of micro/nano-manipulation actuated by microorganisms.

关键词： constrain application micro-manipulators

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SIMO detection schemes for underwater optical wireless communication under turbulence

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Photonics Research 2015年第3期3卷 48-53页

作者： Weihao Liu Zhengyuan Xu Liuqing Yang School of Information Science and Technology University of Science and Technology of ChinaHefeiChina State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyangChina Key Laboratory of Wireless-Optical Communications Chinese Academy of SciencesHefeiChina Department of Electrical and Computer Engineering Colorado State UniversityFort CollinsColorado 80521USA

In underwater optical wireless communication(UOWC),a channel is characterized by abundant scattering/absorption effects and optical *** previous studies on UOWC have been limited to scattering/absorption ***,experiments in the literature indicate that underwater optical turbulence(UOT)can cause severe degradation of UOWC *** this paper,we characterize an UOWC channel with both scattering/absorption and UOT taken into consideration,and a spatial diversity receiver scheme,say a singleinput–multiple-output(SIMO) scheme,based on a light-emitting-diode(LED) source and multiple detectors is proposed to mitigate deep *** Monte Carlo based statistical simulation method is introduced to evaluate the bit-error-rate performance of the *** is shown that spatial diversity can effectively reduce channel fading and remarkably extend communication range.

关键词： SIMO detection schemes for underwater optical wireless communication under turbulence than

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Transient Electronics: Dry Transient Electronic Systems by Use of Materials that Sublime (Adv. Funct. Mater. 12/2017)

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Advanced Functional Materials 2017年第12期27卷

作者： Bong Hoon Kim Jae‐Hwan Kim Luana Persano Suk‐Won Hwang Seungmin Lee Jungyup Lee Yongjoon Yu Yongseon Kang Sang M. Won Jahyun Koo Youn Kyoung Cho Gyum Hur Anthony Banks Jun‐Kyul Song Phillip Won Young Min Song Kyung‐In Jang Daeshik Kang Chi Hwan Lee Dario Pisignano John A. Rogers Departments of Materials Science and Engineering Biomedical Engineering Chemistry Neurological Surgery Mechanical Engineering Electrical Engineering and Computer Science Simpson Querrey Institute and Feinberg Medical School Center for Bio‐Integrated Electronics Northwestern University Evanston IL 60208 USA Department of Materials Science and Engineering Frederick Seitz Materials Research Laboratory University of Illinois at Urbana‐Champaign Urbana IL 61801 USA NEST Istituto Nanoscienze‐CNR Piazza S. Silvestro 12 I‐56127 Pisa Italy KU‐KIST Graduate School of Converging Science and Technology Korea University Seoul 02841 Republic of Korea School of Electrical Engineering and Computer Science Gwangju Institute of Science and Technology (GIST) Gwangju 61005 Republic of Korea Department of Robotics Engineering Daegu Gyeongbuk Institute of Science and Technology (DGIST) Daegu 42988 Republic of Korea Department of Mechanical Engineering Ajou University Suwon 443–749 Republic of Korea Weldon School of Biomedical Engineering School of Mechanical Engineering The Center for Implantable Devices and Birck Nanotechnology Center Purdue University West Lafayette IN 47907 USA Dipartimento di Matematica e Fisica “Ennio De Giorgi” Università del Salento Via Arnesano I‐73100 Lecce Italy

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Moth-inspired plume tracing via autonomous underwaer vehicle with only a pair of separated chemical sensors

Moth-inspired plume tracing via autonomous underwaer vehicle...

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OCEANS

作者： Yu Tian Wei Li Fumin Zhang State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang China Department of Computer and Electrical Engineering and Computer Science California State University Bakersfield CA USA School of Electrical and Computer Engineering Georgia Institute of Technology Atlanta GA USA

Effective chemical plume tracing strategies are important for autonomous underwater vehicles (AUVs) to perform a variety of missions of searching for underwater targets, such as oil spill sources and deep-sea hydrothermal vents. In such circumstances where fluid flow direction cannot be measured by AUVs or fluid flow direction provides little or wrong information about the distribution of a dynamic chemical plume or its source location, chemical plume tracing strategies that rely on information of fluid flow direction may not work effectively. In this paper, a modified moth-inspired chemical plume tracing strategy is presented, which could trace a turbulent chemical plume without need of information of flow direction. The strategy estimates the direction of plume centerline based on information from a pair of spatially separated chemical sensors symmetrically mounted on an AUV's nose together with the AUV's zigzag plume-tracing trajectory, and employs the estimated direction of plume centerline to implement the plume tracing. The proposed strategy is implemented in a computer simulation environment and the simulation results demonstrate that with the strategy an AUV could track a turbulent chemical plume over a long distance and finally localize the plume source.

关键词： Chemicals Chemical and biological sensors Position measurement Chemical sensors Trajectory Robots

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On Finite-Horizon Optimal Control of First-Order Plus Time Delay Systems

On Finite-Horizon Optimal Control of First-Order Plus Time D...

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第27届中国控制与决策会议

作者： Dawei Shi Tongwen Chen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Department of Electrical and Computer Engineering University of Alberta

In this work,a finite-horizon optimal control problem for first-order plus time delay(FOPTD) processes is *** show that if the control horizon is greater than three and the prediction horizon is great than the control horizon plus the time delay in discrete time,the optimal controller is not affected by either of the two ***,under these conditions,the controller parameters are explicitly calculated,the closed-loop system is shown to be stable,and the controller is *** problem considered is related to the results on linear quadratic regulation of linear systems with time delays;however,the detailed parameterization of the state-space model introduced by the FOPTD process provides an additional opportunity to investigate the exact controller structure and properties(e.g.,the locations of the closed-loop poles),which are also the major difficulties encountered and overcome in this *** problem is motivated from phenomena experienced in designing industrial model predictive control(MPC) tuning algorithms,and extensive numerical examples indicate that the proposed results speed up the MPC autotuning algorithms by 70%.

关键词： Optimal control First-order plus time delay process Performance visualization MPC tuning

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A Simulation Platform for Characteristic Model-Based Adaptive Control Systems

A Simulation Platform for Characteristic Model-Based Adaptiv...

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第三十四届中国控制会议

作者： Liangren Shi Zongli Lin Yuanlong Li Department of Automation and Key Laboratory of System Control and Information ProcessingShanghai Jiao Tong University Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

ISBN: (纸本)9781467374439

Characteristic modeling and the adaptive control design based on it have attracted increasing attention from the research community due to their many successful practical applications that have been reported. This paper presents a Matlab simulation platform that has been developed to facilitate the study of characteristic model based adaptive control systems. The simulation platform consists of two interweaving components: for a given continuous-time linear time-invariant plant, represented by a transfer function, and a specified sampling period, the simulation platform calculates a discretized model of the plant, and the corresponding characteristic model, and with a specified set of initial conditions of the characteristic model and its coefficients, along with the specified duration of simulation and reference input, the simulation platform will adaptively tune the coefficients of the characteristic model and calculate the outputs of the plant and the characteristic model. All the data needed for the simulation will be entered through a graphic user interface, which also plots the evolution of the outputs of the plant and the characteristic model as well as the evolution of the coefficients of the characteristic model. The simulation results can also be saved for off line plotting and analysis through the graphic user interface.

关键词： Characteristic model,adaptive control,simulation

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Active Disturbance Rejection Control for Nonlinear Two-tank Liquid Level Cascade Systems with Model Uncertainties

Active Disturbance Rejection Control for Nonlinear Two-tank ...

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The Society of Instrument and Control Engineers Annual Conference 2015

作者： Lijun Wang Fen Zhang Qing Li Yixin Yin Qing Zheng Yumeng Zhang School of Automation & Electrical Engineering University of Science and Technology Beijing Key Laboratory of Advanced Control of Iron and Steel Process (Ministry of Education) University of Science and Technology Beijing Department of Electrical and Computer Engineering Gannon University

Due to the nonlinearities, model uncertainties and disturbances of the two-tank liquid level cascade system,active disturbance rejection controller(ADRC) solution was developed. First, a nonlinear mechanism model and its linearized model were built based on the theories of fluid dynamics for the system. Second, first-order linear ADRCs for the outer loop of the two cascade systems with an unknown order were designed, respectively. With a simple integrator as the normalized type of the feedback system, other parts of dynamic system which are different from the normalized type are treated as the total disturbances. The disturbances were estimated by the second-order linear extended state observer and compensated in the control law. Then the system, with nonlinearities, uncertainties and disturbances, is reduced to only a linear integrator. In comparison with the traditional PI controller, simulation results show that both the proposed ADRCs have better robustness and adaptability against model uncertainties.

关键词： Two-tank systems,nonlinear systems,uncertain systems,cascade systems,active disturbance rejection control

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$ {H}_{ {\infty }}$ Tracking Control of Completely Unknown Continuous-Time Systems via Off-Policy Reinforcement Learning

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IEEE Transactions on Neural Networks and Learning Systems 2015年第10期26卷 2550-2562页

作者： Hamidreza Modares Frank L. Lewis Zhong-Ping Jiang University of Texas at Arlington Research Institute Fort Worth TX USA State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang China Department of Electrical and Computer Engineering with the Polytechnic School of Engineering New York University NY USA

This paper deals with the design of an H ∞ tracking controller for nonlinear continuous-time systems with completely unknown dynamics. A general bounded L 2 -gain tracking problem with a discounted performance function is introduced for the H ∞ tracking. A tracking Hamilton-Jacobi-Isaac (HJI) equation is then developed that gives a Nash equilibrium solution to the associated min-max optimization problem. A rigorous analysis of bounded L 2 -gain and stability of the control solution obtained by solving the tracking HJI equation is provided. An upper-bound is found for the discount factor to assure local asymptotic stability of the tracking error dynamics. An off-policy reinforcement learning algorithm is used to learn the solution to the tracking HJI equation online without requiring any knowledge of the system dynamics. Convergence of the proposed algorithm to the solution to the tracking HJI equation is shown. Simulation examples are provided to verify the effectiveness of the proposed method.

关键词： Attenuation Mathematical model Asymptotic stability Heuristic algorithms Feedforward neural networks Optimal control Trajectory

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[email protected] : Analysis and results of evolving competitions for domestic and service robots

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Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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Wind-PV-storage optimal environomic design using multi-objective Artificial Bee Colony

Wind-PV-storage optimal environomic design using multi-objec...

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IEEE PES Asia-Pacific Power and Energy engineering Conference (APPEEC)

作者： H. Shayeghi M. Moradzadeh Y. Hashemi M. Saif L. Vandevelde Technical Engineering Department Ardabil Iran Dep. of Electrical and Computer Engineering University of Windsor Windsor Canada & the Electrical Energy Laboratory Ghent Belgium Centre for Engineering Innovation Dep. of Electrical and Computer Engineering University of Windsor Windsor Canada Dept. of Electrical Energy Systems and Automation & Energy knowledge platform Power-Link Ghent University Ghent Belgium

ISBN: (纸本)9781467381338

This paper proposes a multi-objective optimization formulation to design a hybrid wind-photovoltaic-storage system to supply the demand. This design problem aims to minimize the annual cost of the overall system as well as the CO2 emissions, and is solved by Artificial Bee Colony (ABC) algorithm. Solar irradiation, wind speed, and load data are assumed deterministic. Prices are all empirical and components of hybrid system are commercially available. A test system in the Northwestern Iran is investigated. The presented technique yields the optimal number of system devices such that the economic and environmental profits are maximized. A fuzzy decision making (FDM) method is applied for finding the best compromise solution from the set of Pareto-optimal solutions obtained by ABC.

关键词： Batteries Optimization Wind turbines Wind speed Renewable energy sources Frequency division multiplexing Maintenance engineering

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