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IEEE Conference on Robotics, Automation and Mechatronics

作者： Wenhao Luo Jun Peng Weirong Liu Jing Wang Wentao Yu Department of Automation Key Laboratory of System Control And Information Processing Shanghai China School of Information Science and Engineering Hunan Engineering Laboratory for Advanced Controland Intelligent Automation Changsha China Computer Engineering Program Bethune-Cookman University Daytona Beach FL USA

This paper presents an efficient analytic method for a mobile robot to determine a collision-free trajectory with unified optimization. The robot kinodynamic constraints and the geometric constraints due to obstacles are addressed by considering a set of constrained inequalities from parameterized trajectories model. Two optimal performance matrices are employed to assess optimization problems. Particularly, both the constraints and performance functions are incorporated by similar forms in terms of trajectory parameters, which thereby can be considered in a uniform way. A parameter space of adjustable trajectory parameters is constructed to solve the unified optimization problem with constraints and results in more flexible and better optimal performance. The proposed approach is complete and enhances methods of deterministic real-time planning by overcoming typical drawbacks as intermediate configuration, curvature discontinuities, vertical singularities and incomplete optimization. Simulation results verify the validity and superiority of the proposed method.

关键词： Trajectory Robot kinematics Collision avoidance Mobile robots Acceleration Optimization

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Robust H∞ control with partly quantized information

Robust H∞ control with partly quantized information

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Chinese control Conference (CCC)

作者： Yang Ge Jingcheng Wang Kang Li Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai CN School of Electronics Electrical Engineering and Computer Science Queen's University Belfast Belfast Belfast GB

This paper is concerned with the stability and stabilizability problems of networked control systems (NCSs) with partly quantized information. More precisely, the remote state variables transported from other sub-systems experience quantization errors, while the local state variables do not. This consideration is much more natural in NCSs due to the distributive nature of subsystems. Quantization errors are represented as convex poly-topic uncertainties. Based on the Lyapunov-Krasovskii (L-K) functional approach, sufficient conditions for the existence of a quantized robust H∞ state feedback controller for NCSs are presented. Such conditions are obtained in terms of bilinear matrix inequalities (BMIs). Furthermore, a cone complementarity algorithm is utilized to convert these BMIs into a convex optimization problem. Finally, a simulation example is provided to demonstrate the efficiency of proposed theorems.

关键词： Quantization (signal) Hafnium State feedback Linear matrix inequalities Stability analysis Networked control systems Uncertainty

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An empirical analysis of social interaction on tobacco-oriented social networks

An empirical analysis of social interaction on tobacco-orien...

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2013 International Conference for Smart Health, ICSH 2013

作者： Liang, Yunji Zheng, Xiaolong Zeng, Daniel Dajun Zhou, Xingshe Leischow, Scott School of Computer Science Northwestern Polytechnical University Xi'an China Department of Management Information System University of Arizona Tucson AZ United States State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songshan Lake Dongguan China Mayo Clinic in Arizona Phoenix AZ United States

ISBN: (纸本)9783642398438

Social media is widely utilized in the tobacco control campaigns. It is a great challenge to evaluate the efficiency of tobacco control policies on social network sites and find gaps among tobacco-oriented social networks. In this paper, we construct three tobacco-oriented social networks according to user interaction on Facebook tobacco-related fan pages. We further investigate the interaction patterns including temporal distribution and interaction patterns to reveal the differences of tobacco-oriented social networks. Our empirical analysis demonstrates that: 1) the user interaction on the pro-tobacco fan pages is more active. Fan pages for tobacco promotion are more successful in obtaining more user attention. 2) The gap between tobacco promotion and tobacco control is widening. These empirical results can provide us significant insights into understanding the evolutionary patterns of social interaction in tobacco-oriented social networks and further help the government departments of tobacco control to make reasonable decisions. © 2013 Springer-Verlag.

关键词： Tobacco

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Prediction of hard rock TBM penetration rate using least square support vector machine

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IFAC Proceedings Volumes 2013年第13期46卷 347-352页

作者： Yang Ge Jingcheng Wang Kang Li Department of Automation Shanghai Jiao Tong University Shanghai and Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Jiao Tong University Shanghai 200240 China (Tel: 86-21-34205374 ) School of Electronics Electrical Engineering and Computer Science Queen's University Belfast UK

The prediction of tunnel boring machine (TBM) penetration rate is helpful to plan construction time and to control cost. This paper studies on modeling the penetration rate and the rock mass parameters via least square support vector machine (LS-SVM). These rock properties include uniaxial compressive strength (UCS), Brazilian tensile strength (BTS), peak slope index (PSI), distance between planes of weakness (DPW) and the alpha angle. The correlation between the rock parameters and the measured rate of penetration (ROP) is first investigated via LS-SVM. Then the necessity of normalizing the rock parameters is discussed. Finally, comparisons between the LS-SVM and other methods are presented to demonstrate the applicability of LS-SVM for predicting ROP.

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On Variation of Infinite Horizon Performance of Model Predictive control with Varying Receding Horizon

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IFAC Proceedings Volumes 2013年第20期46卷 701-706页

作者： Xin Cai Shaoyuan Li Ning Li Kang Li Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing Ministry of Education Shanghai 200240 P. R. China School of Electronics Electrical Engineering and Computer Science The Queen's University Belfast Belfast BT7 1NN UK

This paper investigates variation of infinite horizon (IH) performance of Model Predictive control (MPC) without constraints as the optimization horizon changes. By exploring properties of the Difference Riccati Equations (DRE), an upper bound and a lower bound of the ratio between variation of IH performance of MPC and finite horizon (FH) optimal cost are obtained. The result shows the dynamic behavior of IH performance of closed-loop MPC systems as the optimization horizon varies.

关键词： Model predictive control Infinite horizon performance Finite horizon optimal control Optimization horizon

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Random Finite Sets (RFSs) approach in particle-based multi-target multisensor Bayesian filtering

Random Finite Sets (RFSs) approach in particle-based multi-t...

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2012 7th International Conference on Telecommunication systems, Services, and Applications, TSSA 2012

作者： Yulianti, Lenni Riyanto, Bambang Setijadi, P. Ary Laboratory of Control and Computer System School of Electrical Engineering and Informatics Institut Teknologi Bandung Indonesia

ISBN: (纸本)9781467345507

Various algorithms on multi-target multisensor tracking have been developed to provide reliable performance, in terms of tracking accuracy and computational efficiency. Propagating full multi-target posterior of the states at every time step of estimation process would certainly not be a suitable option due to its computational costs. To alleviate this problem, Random Finite Sets (RFSs) approach which leads to the implementation of Probability Hypothesis Density (PHD) filter offers more effective method. Based on the theory of Finite Set Statistics (FISST), RFSs represents the multi-target states and multisensor observations as a single meta-state and a single meta-observation, respectively. And the system propagates only the first moment, or PHD, associated with multi-target posterior in every recursion time step. This paper is evaluating the performance of this approach using simulation on a nonlinear range and bearing tracking problem, which is employed to track multi-target using several sensors to get the observations. Simulation results show that the algorithm successfully tracks the targets over the surveillance region, with slightly decreasing performance when the level of noise is higher and the clutter density is denser. © 2012 IEEE.

关键词： Computational efficiency

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Rayleigh particle filter for nonlinear tracking system

Rayleigh particle filter for nonlinear tracking system

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2012 4th International Conference on Intelligent and Advanced systems, ICIAS 2012

作者： Yulianti, Lenni Riyanto, Bambang Laboratory of Control and Computer System School of Electrical Engineering and Informatics Institut Teknologi Bandung Bandung Indonesia

ISBN: (纸本)9781457719677

Most papers on particle filtering are developed under the assumption that the distribution form of interfering noise is Gaussian, while the real physical systems would be more accurately modeled using non-Gaussian noises. This paper is examining the performance of particle filter for nonlinear tracking system with Rayleigh-distributed noises. We also investigate how Rayleigh particle filtering tends to give better RMSE than the Gaussian one, but needs longer execution time. © 2011 IEEE.

关键词： Gaussian noise (electronic)

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Data mining development in "Actual Mobile guide for Tourist" application

Data mining development in "Actual Mobile guide for Tourist"...

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2012 IEEE control and system Graduate Research Colloquium, ICSGRC 2012

作者： Wijaya, Rifki Prihatmanto, Ary Setijadi Aziz, Mochamad Vicky Ghani Control System and Computer Laboratory School of Electrical Engineering and Informatics Bandung Institute of Technology Ganeca Street 10 Bandung 40132 Indonesia

IT and tourism is a new innovative combination, the tourist can get the information of the object they want by only get the picture of the object by using their camera in mobile phone, and then the tourist will get th... 详细信息

ISBN: (纸本)9781467320368

关键词： Data mining

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Sequence data and association statistics from 12,940 type 2 diabetes cases and controls

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Scientific data 2017年第1期4卷 170179页

作者： Jason Flannick Christian Fuchsberger Anubha Mahajan Tanya M Teslovich Vineeta Agarwala Kyle J Gaulton Lizz Caulkins Ryan Koesterer Clement Ma Loukas Moutsianas Davis J McCarthy Manuel A Rivas John R B Perry Xueling Sim Thomas W Blackwell Neil R Robertson N William Rayner Pablo Cingolani Adam E Locke Juan Fernandez Tajes Heather M Highland Josee Dupuis Peter S Chines Cecilia M Lindgren Christopher Hartl Anne U Jackson Han Chen Jeroen R Huyghe Martijn van de Bunt Richard D Pearson Ashish Kumar Martina Müller-Nurasyid Niels Grarup Heather M Stringham Eric R Gamazon Jaehoon Lee Yuhui Chen Robert A Scott Jennifer E Below Peng Chen Jinyan Huang Min Jin Go Michael L Stitzel Dorota Pasko Stephen C J Parker Tibor V Varga Todd Green Nicola L Beer Aaron G Day-Williams Teresa Ferreira Tasha Fingerlin Momoko Horikoshi Cheng Hu Iksoo Huh Mohammad Kamran Ikram Bong-Jo Kim Yongkang Kim Young Jin Kim Min-Seok Kwon Juyoung Lee Selyeong Lee Keng-Han Lin Taylor J Maxwell Yoshihiko Nagai Xu Wang Ryan P Welch Joon Yoon Weihua Zhang Nir Barzilai Benjamin F Voight Bok-Ghee Han Christopher P Jenkinson Teemu Kuulasmaa Johanna Kuusisto Alisa Manning Maggie C Y Ng Nicholette D Palmer Beverley Balkau Alena Stančáková Hanna E Abboud Heiner Boeing Vilmantas Giedraitis Dorairaj Prabhakaran Omri Gottesman James Scott Jason Carey Phoenix Kwan George Grant Joshua D Smith Benjamin M Neale Shaun Purcell Adam S Butterworth Joanna M M Howson Heung Man Lee Yingchang Lu Soo-Heon Kwak Wei Zhao John Danesh Vincent K L Lam Kyong Soo Park Danish Saleheen Wing Yee So Claudia H T Tam Uzma Afzal David Aguilar Rector Arya Tin Aung Edmund Chan Carmen Navarro Ching-Yu Cheng Domenico Palli Adolfo Correa Joanne E Curran Dennis Rybin Vidya S Farook Sharon P Fowler Barry I Freedman Michael Griswold Daniel Esten Hale Pamela J Hicks Chiea-Chuen Khor Satish Kumar Benjamin Lehne Dorothée Thuillier Wei Yen Lim Jianjun Liu Marie Loh Solomon K Musani Sobha Puppala William R Scott Loïc Yengo Sian-Tsung Tan Herman A Taylor Farook Thameem Gregory Wilson Tien Yin Wong Pål Rasmu Department of Molecular Biology Massachusetts General Hospital Boston Massachusetts USA. Program in Medical and Population Genetics Broad Institute Cambridge Massachusetts USA. Department of Biostatistics and Center for Statistical Genetics University of Michigan Ann Arbor Michigan USA. Wellcome Trust Centre for Human Genetics Nuffield Department of Medicine University of Oxford Oxford UK. Harvard-MIT Division of Health Sciences and Technology Massachusetts Institute of Technology Cambridge Massachusetts USA. Department of Statistics University of Oxford Oxford UK. Genetics of Complex Traits University of Exeter Medical School University of Exeter Exeter UK. MRC Epidemiology Unit Institute of Metabolic Science University of Cambridge Cambridge UK. Department of Twin Research and Genetic Epidemiology King's College London London UK. Oxford Centre for Diabetes Endocrinology and Metabolism Radcliffe Department of Medicine University of Oxford Oxford UK. Department of Human Genetics Wellcome Trust Sanger Institute Hinxton Cambridgeshire UK. School of Computer Science McGill University Montreal Quebec Canada. McGill University and Génome Québec Innovation Centre Montreal Quebec Canada. Human Genetics Center The University of Texas Graduate School of Biomedical Sciences at Houston The University of Texas Health Science Center at Houston Houston Texas USA. Department of Biostatistics Boston University School of Public Health Boston Massachusetts USA. National Heart Lung and Blood Institute's Framingham Heart Study Framingham Massachusetts USA. Medical Genomics and Metabolic Genetics Branch National Human Genome Research Institute National Institutes of Health Bethesda Maryland USA. Department of Biostatistics Harvard School of Public Health Boston Massachusetts USA. Chronic Disease Epidemiology Swiss Tropical and Public Health Institute University of Basel Basel Switzerland. Institute of Genetic Epidemiology Helmholtz Zentrum München German R

To investigate the genetic basis of type 2 diabetes (T2D) to high resolution, the GoT2D and T2D-GENES consortia catalogued variation from whole-genome sequencing of 2,657 European individuals and exome sequencing of 12,940 individuals of multiple ancestries. Over 27M SNPs, indels, and structural variants were identified, including 99% of low-frequency (minor allele frequency [MAF] 0.1-5%) non-coding variants in the whole-genome sequenced individuals and 99.7% of low-frequency coding variants in the whole-exome sequenced individuals. Each variant was tested for association with T2D in the sequenced individuals, and, to increase power, most were tested in larger numbers of individuals (>80% of low-frequency coding variants in ~82 K Europeans via the exome chip, and ~90% of low-frequency non-coding variants in ~44 K Europeans via genotype imputation). The variants, genotypes, and association statistics from these analyses provide the largest reference to date of human genetic information relevant to T2D, for use in activities such as T2D-focused genotype imputation, functional characterization of variants or genes, and other novel analyses to detect associations between sequence variation and T2D.

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Complex impedance matching for power improvement of a circular piezoelectric energy harvester

Complex impedance matching for power improvement of a circul...

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2011 International Conference on Mechanical Engineering, Materials and Energy, ICMEME 2011

作者： Wang, Hongyan Shan, Xiaobiao Xie, Tao State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 China College of Computer and Control Engineering Qiqihar University Qiqihar 161006 China

ISBN: (纸本)9783037853405

The impedance matching and the optimization of power from a circular piezoelectric energy harvester with a central-attached mass are studied. A finite element model is constructed to analyze the electrical equivalent impedance of the circular piezoelectric energy harvester. Furthermore, the complex conjugate matching load is used to extract the maximum output power of the energy harvester. The power output from complex conjugate matching load is compared with the power output from the resistive matching load and a constant resistance, separately. The results suggest that the complex conjugate matching can result in a significant increase of the output power for all frequencies. The effective bandwidth of the piezoelectric energy harvester is extended significantly. © (2012) Trans Tech Publications, Switzerland.

关键词： Finite element method

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