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American Control Conference

作者： Jiangang Liu Zhiwu Huang Jun Peng Jing Wang School of Information Science and Engineering in Central South University Hunan Engineering Laboratory for Advanced Control and Intelligent Automation Changsha 410075 China Department of Electrical and Computer Engineering Bradley University 1501 West Bradley Ave Peoria IL 61625 USA

ISBN: (纸本)9781479917730

In this paper, we propose a distributed cooperative voltage equalization strategy in order to balance the voltages of the series-connected super-capacitors, which is the power supply of energy storage light rail vehicles. Taking each super-capacitor cell as an agent in multi-agent systems, the voltage equalization problem can be formulated as a cooperative tracking problem. The sparse communication network among the super-capacitors in the cyber layer can be modeled by a digraph. As the voltage changes within a limited range, a general saturation function is put forward to guarantee the boundedness of the control input. Based on the nearest neighborhood rule, a bounded voltage equalization controller with tunable control gains is designed accordingly. The proposed voltage equalization methodology is distributed and not using a central controller. Each super-capacitor cell only need its voltage information and its neighbors, the desired control objective can be accomplished by local interaction in a cooperative way. Under the assumption that the digraph has a spanning tree, the asymptotically stability of the overall close-loop system is rigorously proved with the aid of a novel Lyapunov function integrating Lasalle invariant principle. The voltage equalization has been achieved by the proposed cooperative control approach, which is verified by the simulations. under different initial conditions, cooperative objectives and different network sizes.

关键词： Supercapacitors directed graphs control input Electric Power Source Induction loop systems networks(communications) Liapunov function Distribute

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Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms

Learning by observation for surgical subtasks: Multilateral ...

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IEEE International Conference on robotics and automation (ICRA)

作者： Adithyavairavan Murali Siddarth Sen Ben Kehoe Animesh Garg Seth McFarland Sachin Patil W. Douglas Boyd Susan Lim Pieter Abbeel Ken Goldberg Department of Electrical Engineering and Computer Science (EECS) Center for Automation and Learning for Medical Robotics (Cal-MR) University of California Berkeley Berkeley CA USA Mechanical Engineering Ohio University Department of Electrical Engineering and Computer Science Athens OH US Division of Cardiothoracic Surgery University of California Davis Medical Center Sacramento CA USA Centre for Breast Screening and Surgery Centre for Robotic Surgery Singapore IEOR and EECS

Automating repetitive surgical subtasks such as suturing, cutting and debridement can reduce surgeon fatigue and procedure times and facilitate supervised tele-surgery. Programming is difficult because human tissue is deformable and highly specular. Using the da Vinci Research Kit (DVRK) robotic surgical assistant, we explore a “Learning By Observation” (LBO) approach where we identify, segment, and parameterize motion sequences and sensor conditions to build a finite state machine (FSM) for each subtask. The robot then executes the FSM repeatedly to tune parameters and if necessary update the FSM structure. We evaluate the approach on two surgical subtasks: debridement of 3D Viscoelastic Tissue Phantoms (3d-DVTP), in which small target fragments are removed from a 3D viscoelastic tissue phantom; and Pattern Cutting of 2D Orthotropic Tissue Phantoms (2d-PCOTP), a step in the standard Fundamentals of Laparoscopic Surgery training suite, in which a specified circular area must be cut from a sheet of orthotropic tissue phantom. We describe the approach and physical experiments with repeatability of 96% for 50 trials of the 3d-DVTP subtask and 70% for 20 trials of the 2d-PCOTP subtask. A video is available at: http://***/Robot-Surgery-Video-Oct-2014.

关键词： Phantoms Three-dimensional displays Surgery Motion segmentation Grippers Robot sensing systems

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Using monocular images to estimate interaction forces during minimally invasive surgery

Using monocular images to estimate interaction forces during...

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2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014

作者： Noohi, Ehsan Parastegari, Sina Žefran, Miloš Robotics Laboratory Department of Electrical and Computer Engineering University of Illinois at Chicago ChicagoIL60607 United States

ISBN: (纸本)9781479969340

The lack of haptic feedback during minimally invasive surgery can cause significant tissue damage and increase morbidity. Estimating the applied force from endoscopic images is a promising approach, especially using binocular images. However, many existing operation rooms are only equipped with monocular endoscopes, making force estimation more problematic. In this paper a new method for estimating the applied force from monocular endoscope images is proposed. The main contribution is the concept of virtual template that enables modeling of surface deformation without the knowledge of the undeformed shape. Results of the in vitro experiment with the lamb liver support the practicality and effectiveness of the proposed method. © 2014 IEEE.

关键词： Endoscopy

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SmartBackup: An Efficient and Reliable Backup Strategy for Solid State Drives with Backup Capacitors

SmartBackup: An Efficient and Reliable Backup Strategy for S...

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IEEE International Conference on High Performance Computing and Communications (HPCC)

作者： Min Huang Yi Wang Liyan Qiao Duo Liu Zili Shao School of Electrical Engineering and Automation Harbin Institute of Technology Guangdong Province Key Laboratory of Popular High Performance Computers Shenzhen University College of Computer Science Chongqing University Department of Computing The Hong Kong Polytechnic University

ISBN: (纸本)9781479989386

Unpredictable power outages in NAND flashbased Solid State Drives (SSDs) may cause system failure or reliability problems. Capacitors are widely adopted as the interim power supplier when power interruption happens. However, since the energy provided by backup capacitors is limited, and the capacitance of a capacitor will gradually degrade with time, it is imperative to improve the efficiency and reliability of the backup process for SSDs with capacitors. This paper presents a novel backup scheme called SmartBackupfor MLC NAND flash-based SSDs with backup capacitors. In SmartBackup, by exploiting the feature of the discharge process of capacitors, all available SSD channels are fully utilized and dynamically adjusted based on the available voltage, so data can be efficiently stored in a reliable manner. Moreover, in SmartBackup, to write data in a time/energyefficient manner with better reliability, we adopt a fast and reliable programming strategy by only writing LSB (Least Significant Bit) pages in MLC NAND flash. To the best of our acknowledge, this is the first work to jointly utilize the property of the multi-page architecture of MLC NAND flash and the discharge characteristic of capacitors to improvethe efficiency and reliability of the backup process in SSDswith backup capacitors. The experimental results show thatSmartBackup can effectively accelerate the backup processand improve the reliability.

关键词： Capacitors Ash Reliability Programming Arrays Acceleration Discharges (electric)

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Shared Control of Human and Robot by Approximate Dynamic Programming

Shared Control of Human and Robot by Approximate Dynamic Pro...

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American Control Conference

作者： Yanan Li Keng Peng Tee Rui Yan Dilip Kumar Limbu Shuzhi Sam Ge Institute for Infocomm Research (I2R) Agency for Science Technology and Research (A*STAR) Singapore 138632 Department of Electrical and Computer Engineering and the Social Robotics Laboratory Interactive Digital Media Institute National University of Singapore Singapore 117576

ISBN: (纸本)9781479917730

In this paper, a framework of human-robot shared control is developed based on finding the solution to an optimization problem. Human dynamics are taken into account in the analysis of the coupled human-robot system, and objectives of both human and robot are considered. Approximate dynamic programming is employed to solve the optimization problem in the presence of unknown human and robot dynamics. The validity of the proposed method is verified through simulation studies.

关键词： dynamic programming Robot Human robot dynamics Approximate

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GROUP CONSENSUS FOR MULTIPLE NETWORKED EULER-LAGRANGE SYSTEMS WITH PARAMETRIC UNCERTAINTIES

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Journal of Systems Science & Complexity 2014年第4期27卷 632-649页

作者： HU Hongxiang ZHANG Zhe YU Li YU Wenwu XIE Guangming Department of Mathematics Hangzhou Dianzi University Zhejiang Provincial United Key Laboratory of Embedded Systems Department of AutomationZhejiang University of Technology Department of Mathematics Southeast University School of Electrical and Computer Engineering RMIT University Faculty of Engineering King Abdulaziz University Center for Systems and Control State Key Laboratory of Turbulence and Complex SystemsCollege of EngineeringPeking University

In this paper,a group consensus problem is investigated for multiple networked agents with parametric uncertainties where all the agents are governed by the Euler-Lagrange system with uncertain *** the group consensus problem,the agents asymptotically reach several different states rather than one consistent state.A novel group consensus protocol and a time-varying estimator of the uncertain parameters are proposed for each agent in order to solve the couple-group consensus *** is shown that the group consensus is reachable even when the system contains the uncertain ***,the multi-group consensus is discussed as an extension of the couple-group consensus,and then the group consensus with switching topology is *** results are finally provided to validate the effectiveness of the theoretical analysis.

关键词： Euler-Lagrange system group consensus multi-agent systems switching topologies.

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Dynamic Linear Controller Design for a Class of High-Order Nonlinear Systems via State-Feedback

Dynamic Linear Controller Design for a Class of High-Order N...

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IEEE Annual Conference on Decision and Control

作者： Wenting Zha Chunjiang Qian Junyong Zhai Shumin Fei Key Laboratory of Measurement and Control of CSE Ministry of Education School of Automation Southeast University Nanjing Jiangsu 210096 China Department of Electrical and Computer Engineering University of Texas at San Antonio San Antonio Texas 78249 USA

ISBN: (纸本)9781479978878

The objective of this paper is to address the linear state-feedback control problem for a family of high-order uncertain nonlinear systems. Based on the adding a power integrator technique, the authors recursively construct a linear controller with dynamic gains, which can be used to deal with the uncertain nonlinear terms and simplify the controller structure. Moreover, it is proved that the proposed control law can globally regulate system states to the origin and guarantee the boundedness of all the signals of the closed-loop system as well. Finally, a simulation example is presented with some comparison with the existing result so as to demonstrate the effectiveness of the proposed design scheme.

关键词： High-order nonlinear systems dynamic linear controller adding a power integrator linear controllers design scheme Uncertain nonlinear system control law State feedback higher-order controller design Closed loop systems state feedback control

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Self-Propulsion: Superfast Near-Infrared Light-Driven Polymer Multilayer Rockets (Small 5/2016)

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Small 2016年第5期12卷

作者： Zhiguang Wu Tieyan Si Wei Gao Xiankun Lin Joseph Wang Qiang He State Key Laboratory of Robotics and System (HIT) Micro/Nanotechnology Research Center Harbin Institute of Technology Harbin 150080 China Department of Nanoengineering University of California San Diego La Jolla CA 92093 USA Electrical Engineering and Computer Sciences University of California Berkeley CA 94720 USA

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Introduction

SpringerBriefs in Applied Sciences and Technology

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SpringerBriefs in Applied Sciences and Technology 2014年第9783319053790期 1-6页

作者： Yang, Fan Duan, Ping Shah, Sirish L. Chen, Tongwen Tsinghua Laboratory for Information Science and Technology Department of Automation Tsinghua University Beijing China Department of Electrical and Computer Engineering University of Alberta EdmontonAB Canada Department of Chemical and Materials Engineering University of Alberta EdmontonAB Canada

In large-scale industrial processes and other complex systems, elements are not independent. To describe the relationship between process variables, different concepts, such as connectivity and causality, are often used. The background and motivation of investigatingconnectivity and causality in complex systems are discussed;these two concepts are clarified with examples. Causality describes the cause-effect relationship between changes of process variables;while connectivity is generally concerned with physical and information paths in a process. The causality relationships can be described by process topology. A brief chapter preview is then included to give a big picture of this brief, and to provide guidance for interested readers to different topics covered in the brief. © 2014, The Author(s).

关键词： Causality Complex processes Connectivity Correlation Directionality Predictability Process topology Process variables Reachability

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Experimental Verification of a Multi-robot Distributed Control Algorithm with Containment and Group Dispersion Behaviors: the Case of Dynamic Leaders

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IEEE/CAA Journal of Automatica Sinica 2014年第1期1卷 54-60页

作者： Hejin Zhang Zhiyun Zhao Ziyang Meng Zongli Lin Department of Automation and Key Laboratory for System Control and Information Processing of Ministry of Education Shanghai Jiao Tong University the Access Linnaeus Centre School of Electrical Engineering Royal Institute of Technology Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

This paper studies the containment and group dispersion control for a multi-robot system in the presence of dynamic leaders. Each robot is represented by a doubleintegrator dynamic model and a distributed control algorithm is developed to drive the multi-robot system to follow a group of dynamic leaders with containment and group dispersion behaviors. The effectiveness of the algorithm is then verified on a multi-robot control platform.

关键词： Heuristic algorithms Mobile robots Robot kinematics Trajectory Dispersion Decentralized control

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