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2019 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Junnan Chen Xiaoming Liu Shengnan Dong Pengyun Li Xiaoqing Tang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CHINA Department of Systems Innovation Graduate school of Engineering Science Osaka University Toyonaka Osaka Japan Global Alliance Lab The University of Electro-Communications Tokyo Japan

We have successfully achieved manipulation and assembly of microbeads having the size of 100μm diameter by hemispherical end-effectors with high stability and accuracy. The motivation of achieving assembly of actual cells lies in the great significance of it in tissue regeneration and cell analysis. Firstly, the most difficult problem we need to solve is the releasing problem caused by adhesion force. The viscosity on cell surface is much larger than the microbeads which makes cell releasing challenging. Secondly, the cell can generate its deformation, then contact area with end-effector will change during grasping process. This may influence the adhesion force and also bring problem to releasing. Thirdly, cell is much smaller, around 15μm in diameter, so we need to fabricate smaller end-effector to achieve successful manipulation and ensure the stability in the meantime. In this paper, we realize the manipulation by decreasing the adhesion forces and apply vibration to release a cell stably. We found the appropriate scale size for the end-effector is around 10μm diameter. It can not only grasp a 15μm cell but also bring little interference to the environment. As a demonstration of the proposed manipulation method, the repeated experiments were conducted to explore the dependence of adhesion force on the grasping distance, which can be helpful in the improvement of successful rate. Finally, we achieved automatic cell assembly using Hela cells.

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Cooperative Collision Avoidance Method for Multi-UAV Based on Kalman Filter and Model Predictive Control

Cooperative Collision Avoidance Method for Multi-UAV Based o...

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International Conference on Unmanned systems and Artificial Intelligence

作者： Hanqiao Huang Huan Zhou Meiyun Zheng Cheng Xu Xiaofeng Zhang Wei Xiong Unmanned System Research Institute Northwest Polytechnical University Xi'an China Aeronautical Engineering College Air Force Engineering University Xi'an China School of Marine Science and Technology Northwest Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China UAV Researc Center Army Aviation Institute Beijing China

ISBN: (数字)9781728158594

ISBN: (纸本)9781728158600

Collision avoidance is the primary problem to be solved in formation flight of multiple Unmanned aerial vehicles(UAVs). Firstly, a cooperative collision avoidance architecture of multiple UAVs is designed according to the requirement of autonomous collision avoidance of single UAV. Then a new cooperative collision avoidance method of multiple UAVs based on Kalman filter and model predictive control(MPC) is proposed. In this method, extended Kalman filter(EKF) is used to estimate the state of obstacles and target points in uncertain environment space, and to predict the trajectory of obstacles and target points. At the same time, relevant performance index functions and constraints are set up. On the basis of sharing environmental information, model predictive control strategy is used to guide and make cooperative collision avoidance decisions for multiple UAVs. The simulation results show that the proposed method is effective in uncertain environment perception and UAV collision avoidance, and the cooperative mechanism has obvious advantages.

关键词： UAV cooperative decision collision avoidance Kalman filter state estimation MPC Collision avoidance Kalman filters Unmanned Aerial Vehicle State estimation Maximum Allowable Concentration drone honey bees environmental perception Formation flight

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Establishment and Optimization of Gas Flow Prediction Model for Annealing Furnace Based on GA-SVM 37

Establishment and Optimization of Gas Flow Prediction Model ...

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37th Chinese Control Conference, CCC 2018

作者： Qu, Qilin Yuan, Yan Yali, Jin Zhang, Yongyue China University of Geosciences School of Automation Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System Wuhan430074 China School of Information Science and Engineering Central South University Changsha410083 China

ISBN: (纸本)9789881563941

T0616. The temperature accuracy of the steel coil is directly affected the production quality of the steel plate. In the annealing furnace temperature control system, strip temperature control is mainly decided by various furnace annealing furnace gas flow in the area, so setting up a precise model between gas flow and temperature has become an important problem of the control system of annealing furnace. In this paper, SVM is applied to the prediction model of the gas flow in the annealing furnace since it's suitable for nonlinear and high dimensional problems as a machine learning method. In view of that the choice of C, G and the model parameters of the SVM directly affect the prediction precision of the model, this paper uses GA to optimize these two parameters. Finally, we use the data of field production as training and testing samples to establish and verify the model. The experimental results showed that the established model well achieved the requirements of the accuracy of the target. © 2018 Technical Committee on Control Theory, Chinese Association of Automation.

关键词： Flow of gases

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Aeromagnetic Compensation Based on Tikhonov Regularization with Limited L-curve Parameter-choice Algorithm

Aeromagnetic Compensation Based on Tikhonov Regularization w...

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第37届中国控制会议

作者： FU Mengyin LI Jie WU Tailin LIU Tong WANG Meiling WANG Kai KANG Jiapeng Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Nanjing University of Science and Technology

Magnetic anomaly detection has great application value to national economic development and national defense construction, while the presence of various interference magnetic fields on the aircraft will affect the detection of magnetic anomaly. Therefore, it is very important to compensate the aircraft interference magnetic field. In order to solve the problem that the accuracy of the parameters is poor by using ridge estimation in the process of solving the parameters of aircraft interference magnetic field model, we propose a method based on Tikhonov Regularization（TR）. Firstly, the optimal regularization parameter is obtained by the limited L-curve method in our work. Secondly, the aircraft interference magnetic field model parameters are obtained by using the TR method. Finally, we use the model parameters to calculate the aircraft interference magnetic field in the real flight, and complete the compensation. The effectiveness of this method is validated by simulation experiments. The results show that the method proposed in this paper has the advantages of high precision and convenient application, so it can be used to compensate the aircraft interference magnetic field effectively.

关键词： Aircraft Interference Magnetic Field Model Tikhonov Regularization L-curve Method Ridge Estimation

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Research on guidance method based on angle description

Research on guidance method based on angle description

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Chinese Automation Congress (CAC)

作者： Hui Wang Ruiming Hao Yan Zhen Wugang Wang Yong Wei School of Aerospace Engineeringline Beijing Institute of Technology Beijing China Science and technology on complex system control and intelligent agent cooperation laboratory Beijing China Northwest Industries Group Co.LTD Xian China 672 Test Ground Hua An Industry Group Co. LTD Qiqihaer China

Based on the derivation of optimal proportional navigation, the new expressions with line of sight angle and trajectory angle for proportional navigation, integral proportional navigation and velocity pursuit are proposed. The guidance model with initial heading error is developed when considering a high order dynamics system for the integral proportional navigation and velocity pursuit. Comparative analysis results of miss distance demonstrate the guidance performance of integral proportional navigation and velocity pursuit.

关键词： Navigation Trajectory Missiles Mathematical model Analytical models Acceleration

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A Summary of the Development of Cooperative and intelligent Technology for Multi-UAV systems

A Summary of the Development of Cooperative and Intelligent ...

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International Conference on Unmanned systems and Artificial Intelligence

作者： Huan Zhou Qian Su Wenxing Fu Cheng Xu Meiyun Zheng Jingguang Yang Aeronautical Engineering College Air Force Engineering University Xi'an China School of Astronautics Northwest Polytechnical University Xi'an China Unmanned System Research Institute Northwest Polytechnical University Xi'an China Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory Beijing China School of Marine Science and Technology Northwest Polytechnical University Xi'an China Aviation maintenance Sergeant school of air force engineering university Xinyang China

ISBN: (数字)9781728158594

ISBN: (纸本)9781728158600

In the process of formation cooperative autonomous flight and mission execution, multi-UAV systems have the characteristics of large disturbance, strong coupling of multi variables, high degree of uncertainty and complex cooperative factors, so there are many difficulties in the design of cooperative and intelligent control system. How to effectively develop the cooperative and intelligent technology of multi-UAV systems has become an urgent problem in the field of unmanned system and artificial intelligence. This paper first introduces the key technologies involved in UAV system at present, and then analyzes the challenges faced by the development of UAV system. Finally, it focuses on the development trend of multi-UAV systems cooperation and intelligent technology in the future. The research results have strong theoretical guidance significance for the cooperation and intelligent development of multi-UAV systems in China.

关键词： Multi-UAVs cooperation intelligence uncertainty formation Intelligence Uncertainty intelligent control system formation Future technologies Unmanned Aerial Vehicle drone honey bees Key technology

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Self-adaptation of chimera states

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Physical Review E 2019年第1期99卷 010201(R)-010201(R)页

作者： Nan Yao Zi-Gang Huang Hai-Peng Ren Celso Grebogi Ying-Cheng Lai Department of Applied Physics Xi'an University of Technology Xi'an 710048 China The Key Laboratory of Biomedical Information Engineering of Ministry of Education National Engineering Research Center of Health Care and Medical Devices The Key Laboratory of Neuro-informatics & Rehabilitation Engineering of Ministry of Civil Affairs and Institute of Health and Rehabilitation Science School of Life Science and Technology Xi'an Jiaotong University Xi'an 710049 China Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi'an University of Technology Xi'an 710048 China Institute for Complex Systems and Mathematical Biology King's College University of Aberdeen Aberdeen AB24 3UE United Kingdom School of Electrical Computer and Energy Engineering Arizona State University Tempe Arizona 85287 USA Department of Physics Arizona State University Tempe Arizona 85287 USA

Chimera states in spatiotemporal dynamical systems have been investigated in physical, chemical, and biological systems, and have been shown to be robust against random perturbations. How do chimera states achieve their robustness? We uncover a self-adaptation behavior by which, upon a spatially localized perturbation, the coherent component of the chimera state spontaneously drifts to an optimal location as far away from the perturbation as possible, exposing only its incoherent component to the perturbation to minimize the disturbance. A systematic numerical analysis of the evolution of the spatiotemporal pattern of the chimera state towards the optimal stable state reveals an exponential relaxation process independent of the spatial location of the perturbation, implying that its effects can be modeled as restoring and damping forces in a mechanical system and enabling the articulation of a phenomenological model. Not only is the model able to reproduce the numerical results, it can also predict the trajectory of drifting. Our finding is striking as it reveals that, inherently, chimera states possess a kind of “intelligence” in achieving robustness through self-adaptation. The behavior can be exploited for the controlled generation of chimera states with their coherent component placed in any desired spatial region of the system.

关键词： Chimera states Collective dynamics Coupled oscillators Chaos & nonlinear dynamics

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Bifurcation and stability analysis of a delayed fractional-order gene regulation networks with uncertain order 8

Bifurcation and stability analysis of a delayed fractional-o...

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8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Applications, ISCIIA and ITCA 2018

作者： Liu, Feng Dong, Ting Sun, Fenglan Ling, Guang School of Automation China University of Geosciences Wuhan430074 China Hubei key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Wuhan430074 China Research Center of System Theory and Application Chongqing University of Posts and Telecommunications Chongqing400065 China School of Science Wuhan University of Technology Wuhan430070 China

Bifurcation and stability analysis for a fractional-order gene regulatory networks with time delay is researched. Firstly, taking time delay as the bifurcation parameter, the Hopf bifurcation and stability conditions are established. Finally, a numerical example verifies the theoretical conclusion. It is showed that time delay can heavily effect the dynamics of the system and each order has a major influence on the creation of bifurcation simultaneously. © ISCIIA and ITCA 2018 - 8th International Symposium on Computational Intelligence and Industrial Applications and 12th China-Japan International Workshop on Information Technology and Control Application.

关键词： Time delay

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Establishment and Optimization of Gas Flow Prediction Model for Annealing Furnace Based on GA-SVM

Establishment and Optimization of Gas Flow Prediction Model ...

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第37届中国控制会议

作者： Qilin Qu Yan Yuan Jin Yali Yongyue Zhang School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex System School of Information Science and Engineering Central South University

The annealing furnace is an important equipment for annealing in the production process of cold rolled strip steel. The temperature accuracy of the steel coil is directly affected the production quality of the steel plate. In the annealing furnace temperature control system, strip temperature control is mainly decided by various furnace annealing furnace gas flow in the area, so setting up a precise model between gas flow and temperature has become an important problem of the control system of annealing furnace. In this paper, SVM is applied to the prediction model of the gas flow in the annealing furnace since it’s suitable for nonlinear and high dimensional problems as a machine learning method. In view of that the choice of C, G and the model parameters of the SVM directly affect the prediction precision of the model, this paper uses GA to optimize these two parameters. Finally, we use the data of field production as training and testing samples to establish and verify the model. The experimental results showed that the established model well achieved the requirements of the accuracy of the target.

关键词： Annealing furnace Gas flow Model Support Vector Machine Genetic Algorithm

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Publisher's Note: “Coupling analysis of transient aerodynamic and dynamic response of articulated heavy vehicles under crosswinds” [Phys. Fluids 34, 017106 (2022)]

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Physics of Fluids 2022年第2期34卷

作者： Qianwen Zhang (张倩文) Chuqi Su (苏楚奇) Makoto Tsubokura (坪倉誠) Zhen Hu (胡振) Yiping Wang (汪怡平) 1Hubei Key Laboratory of Advanced Technology for Automotive Components Wuhan University of Technology Wuhan 430070 China 2Hubei Collaborative Innovation Center for Automotive Components Technology Wuhan University of Technology Wuhan 430070 China 3Hubei Research Center for New Energy and Intelligent Connected Vehicle Wuhan University of Technology Wuhan 430070 China 4Graduate School of System Informatics Kobe University Kobe Hyogo 657-8501 Japan 5Complex Phenomena Unified Simulation Research Team RIKEN Advanced Institute for Computational Science Kobe Hyogo 650-0047 Japan 6Shanghai Huawei Technology Co. Shanghai 201206 China

This article was originally published online on 7 January 2022 with an incorrect page number. The correct page number is 017106. All online versions of this art

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