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Consensus control and feedback graph co-design for MIMO discrete-time multi-agent systems

Journal of Control and Decision 2014年第1期1卷 18-33页

作者： Guoxiang Gu Fei Liu Xiang Chen Department of Electrical and Computer Engineering Louisiana State UniversityBaton RougeLAUSA Key Laboratory of Advanced Process Control for Light Industry(Ministry of Education)China Institute of AutomationJiangnan UnniversityWuxiP.R.China Department of Electrical and Computer Engineering University of WindsorWindsorCanada

This paper studies consensus control for multi-input/multi-output(MIMO)discrete-time multi-agent systems(MASs).It makes use of the novel idea of resource allocation in designing both the communication graph and feedback *** weakest consensusability condition is obtained for MASs over both directed and undirected graphs,which extends the existing results to MIMO discrete-time *** synthesis procedures are also *** work demonstrates the importance of the graph and controller co-design based on resource allocation for MIMO discrete-time MASs.

关键词： consensus control gain margin multi-agent systems

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Sketching the distribution of transcriptomic features on RNA transcripts with Travis coordinates

Sketching the distribution of transcriptomic features on RNA...

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IEEE International Conference on Bioinformatics and Biomedicine

作者： Xiaodong Cui Zhen Wei Lin Zhang Hui Liu Lei Sun Shao-Wu Zhang Yufei Huang Jia Meng Department of Electrical and Computer Engineering University of Texas at San Department of Biological Sciences XJTLU-Huai'an Research Institute of New-type Urbanization Xi'an Jiaotong-Liverpool University School of Information and Electrical Engineering China University of Mining and Technology School of Information Engineering Yangzhou University Key Laboratory of Information Fusion Technology of Ministry of Education School of Automation Northwestern Polytechnical University

ISBN: (纸本)9781467368001

Biological features, such as, genes, transcription factor binding sites, SNPs, etc., are usually denoted with genome-based coordinates as the genomic features. While genome-based representation is usually very effective, it can be tedious to examine the distribution of RNA-related genomic features on RNA transcripts with existing tools due to the conversion and comparison between genome-based coordinates to RNA-based coordinates. We developed here an open source R package Travis for sketching the transcriptomic view of genomic features so as to facilitate the analysis of RNA-related but genome-based coordinates. Internally, Travis package extracts the coordinates relative to the landmarks of transcripts, with which the distribution of RNA-related genomic features can then be conveniently analyzed. We demonstrated the usage of Travis package in analyzing post-transcriptional RNA modifications (5-MethylCytosine and N6-MethylAdenosine) derived from high-throughput sequencing approaches (MeRIP-Seq and RNA BS-Seq). The Travis R package is now publicly available from GitHub: .

关键词： Visualization RNA N6-MethylAdenosine (m~6A) 5-MethylCytosine (m~5C) BS-Seq MeRIP-Seq R package Genomic Features

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Dynamics of insect-inspired flapping-wing MAVs: Multibody modeling and flight control simulations

Dynamics of insect-inspired flapping-wing MAVs: Multibody mo...

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2014 American Control Conference, ACC 2014

作者： Mahjoubi, Hosein Byl, Katie Robotics Laboratory Department of Electrical and Computer Engineering University of California at Santa Barbara Santa Barbara CA 93106 United States

ISBN: (纸本)9781479932726

Research on bio-inspired flapping-wing micro-aerial vehicles (MAVs) has experienced a steady growth over the past two decades. In particular, experiments on insect flight dynamics may provide new solutions for various challenges ranging from morphological design to force control mechanisms. A significant amount of research in this area is focused on modeling and simulation of such dynamics;however, mass of the wings and corresponding inertia effects are often ignored for simplification purposes. In this paper, the MAV is considered to be a structure with three rigid bodies, i.e., a main body and two wings. Wing strokes are limited within the body's transverse plane, though each wing can also passively pitch around its lateral axis. Using the Lagrangian, a dynamic multibody model of this system is developed to «1» analyze the significance of wing mass in flight dynamics and «2» simulate flight control experiments. The employed control approach is based on investigated relationships between mechanical impedance properties of the wing pitch joints and average values of aerodynamic forces. The results suggest that the wings' mass and mechanical impedance properties of the joints can be optimized together to enhance lift/thrust production. In addition, simulations of various flight maneuvers with the optimized model and proposed control approach always demonstrate an agile and stable behavior. © 2014 American Automatic Control Council.

关键词： Maneuverability

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Infeasibility-free inverse kinematics method

Infeasibility-free inverse kinematics method

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IEEE/SICE International Symposium on System Integration

作者： Wael Suleiman Fumio Kanehiro Eiichi Yoshida Electrical and Computer Engineering Department Université de Sherbrooke Sherbrooke Quebec Canada Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki Japan CNRS-AIST JRL (Joint Robotics Laboratory) Tsukuba Ibaraki Japan

ISBN: (纸本)9781467372435

The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while respecting velocity limits on both the robot's joints and the end-effector. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, defining an admissible trajectory for the end-effector is still a burdensome task for the user, and the problem can easily become unsolvable. The main idea behind the proposed algorithms is to consider the sampling time as a free variable, hence adding more flexibility to the optimization problem associated with the inverse kinematics. We prove that the reformulated problem has always a solution if the end-effector path is in the reachable space of the robot, thus solving the problem of infeasibility of conventional inverse kinematics methods. To validate the proposed approach, we have conducted three simulations scenarios. The simulation results point that while the conventional inverse kinematics methods fail to track precisely a desired end-effector trajectory, the proposed algorithms always succeed.

关键词： Kinematics Optimization Robots Trajectory Algorithm design and analysis Jacobian matrices Angular velocity

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Shape driven kernel adaptation in Convolutional Neural Network for robust facial trait recognition

Shape driven kernel adaptation in Convolutional Neural Netwo...

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Conference on computer Vision and Pattern Recognition (CVPR)

作者： Shaoxin Li Junliang Xing Zhiheng Niu Shiguang Shan Shuicheng Yan Department of Electrical and Computer Engineering National University of Singapore Singapore Key Lab of Intelligent Information Processing of Chinese Academy of Sciences (CAS) Institute of Computing Technology CAS Beijing China National Laboratory of Pattern Recognition Institute of Automation CAS Beijing China

ISBN: (纸本)9781467369657

One key challenge of facial trait recognition is the large non-rigid appearance variations due to some irrelevant real world factors, such as viewpoint and expression changes. In this paper, we explore how the shape information, i.e. facial landmark positions, can be explicitly deployed into the popular Convolutional Neural Network (CNN) architecture to disentangle such irrelevant non-rigid appearance variations. First, instead of using fixed kernels, we propose a kernel adaptation method to dynamically determine the convolutional kernels according to the spatial distribution of facial landmarks, which helps learning more robust features. Second, motivated by the intuition that different local facial regions may demand different adaptation functions, we further propose a tree-structured convolutional architecture to hierarchically fuse multiple local adaptive CNN subnetworks. Comprehensive experiments on WebFace, Morph II and MultiPIE databases well validate the effectiveness of the proposed kernel adaptation method and tree-structured convolutional architecture for facial trait recognition tasks, including identity, age and gender recognition. For all the tasks, the proposed architecture consistently achieves the state-of-the-art performances.

关键词： Kernel Shape Face Face recognition Robustness Neural networks computer architecture

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RTC: Link schedule based MAC design in multi-hop wireless network

RTC: Link schedule based MAC design in multi-hop wireless ne...

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International Conference on Quality of Service in Heterogeneous Wired/Wireless Networks (QSHINE)

作者： Xuan Dong Yinjia Huo Chunsheng Zhu Shaohe Lv Wenxiang Li Xiaodong Wang Department of Electrical and Computer Engineering The University of British Columbia Vancouver BC Canada National Laboratory of Parallel and Distributed Processing National University of Defense Technology Changsha China Engineering Research Center for Metallurgical Automation and Detecting Technology of Ministry of Education Wuhan University of Science and Technology Wuhan China

ISBN: (纸本)9781479982172

The performance of an ad-hoc network is greatly limited by collisions due to hidden terminals. In this paper, we propose a receiver tracking contention (RTC) scheme, which achieves high throughput by allowing the receivers to assist for channel contention. In RTC, link is the basic unit for channel access contention. Specifically, transmitter is used to contend for the channel and receiver is used to announce the potential collision. Based on INT message coding scheme, transmitter and its corresponding receiver can be well coordinated. In such mechanism, hidden terminals are avoided and exposed terminals are encouraged to transmit simultaneously. Based on OFDM modulation, RTC packets several subcarriers as subcontention unit and operates channel contention over multiple subcontention units. Furthermore, each subcontention unit maintains a transmission set, where collision-free links are allowed to merged into the transmission set In this case, the transmission set of subcontention unit can be aggregated after each contention period. When the subcontention unit i is the smallest index of non-empty subcontention unit, the transmission set of unit i will win the channel contention and transmitters of unit i will start to transmit in the following data transmission period. Analysis and simulation results show that RTC achieves a notable throughput gain over Back2f as high as 190% through simulation.

关键词： Receivers OFDM Transmitters Electronics packaging

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Reliability analysis and performance degradation of a boost converter

Reliability analysis and performance degradation of a boost ...

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作者： Alam, Mohammed Khorshed Khan, Faisal H. Power Engineering and Automation Research Laboratory Department of Electrical and Computer Engineering University of Utah Salt Lake CityUT84112-9206 United States

In general, power converters are operated in closed-loop systems, and any characteristic variations in one component will simultaneously alter the operating point of other components, resulting in a shift in overall reliability profile. This interdependence makes the reliability of a converter a complex function of time and operating conditions;therefore, the application may demand periodic replacement of converters to avoid downtime and maintenance cost. By knowing the present state of health and the remaining life of a power converter, it is possible to reduce the maintenance cost for expensive high-power converters. This paper presents a reliability analysis for a boost converter, although this method could be used to any power converter being operated using closed-loop controls. Through the conducted study, it is revealed that the reliability of a boost converter having control loops degrades with time, and this paper presents a method to calculate time-varying reliability of a boost converter as a function of characteristic variations in different components in the circuit. In addition, the effects of operating and ambient conditions have been included in the reliability model as well. It was found that any increase in the ON-state resistance of the MOSFET or equivalent series resistance of the output capacitor decreases the overall reliability of the converter. However, any variation in the capacitance has a more complex impact on the converter's reliability. This paper is a step forward to the power-converter reliability analysis because the cumulative effect of multiple degraded components has been considered in the reliability model. © 1972-2012 IEEE.

关键词： Electric inverters

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An Integrated Cyber-Physical Simulation Environment for Smart Grid Applications

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Tsinghua Science and Technology 2014年第2期19卷 133-143页

作者： Yuxin Wan Junwei Cao Shuqing Zhang Guoyu Tu Chao Lu Xingtao Xu Keqin Li the Department of Automation Research Institute of Information TechnologyTsinghua National Laboratory for Information Science and TechnologyTsinghua University the Department of Electrical Engineering Tsinghua University State Grid Jiangsu Electric Power Company Department of Computer Science State University of New York New Paltz

The concept of Cyber-Physical Systems （CPSs）, which combine computation, networking, and physical processes, is considered to be beneficial to smart grid applications. This study presents an integrated simulation environment to provide a unified platform for the investigation of smart grid applications involving power grid monitoring, communication, and control. In contrast to the existing approaches, this environment allows the network simulator to operate independently, importing its results to the power system simulation. This resolves conflicts between discrete event simulation and continuous simulation. In addition, several data compensation methods are proposed and investigated under different network delay conditions. A case study of wide-area monitoring and control is provided, and the efficiency of the proposed simulation framework has been evaluated based on the experimental results.

关键词： control cyber-physical system simulation smart grid wide-area monitoring

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Editorial tnnls special issues and editorial board changes

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IEEE Transactions on Neural Networks and Learning Systems 2014年第1期25卷 1-8页

作者： Liu, Derong State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department of Electrical and Computer Engineering University of Illinois at Chicago Chicago IL 60607 United States

Presents a listing of changes to the Editorial Board for this publication.

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A special issue on recent advances on bio-inspired computation for bioinformatics

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Journal of Bionanoscience 2014年第5期8卷 325-327页

作者： Cui, Zhihua Gao, Xiao-Zhi Complex System and Computational Intelligence Laboratory School of Computer Science and Technology Taiyuan University of Science and Technology Wanbailin District Taiyuan Shanxi China Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University P. O. Box 15500 Aalto Finland

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