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第37届中国控制会议

作者： Zhipeng Zhang Zengqiang Chen Zhongxin Liu College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

In this paper, the static output feedback stabilization of discrete event dynamic systems(DESs) via the semi-tensor product(STP) of matrices is investigated. Firstly, the dynamics of discrete event dynamical systems modelled by deterministic Moore-type finite automata are converted into an matrix expression in the STP frame. Secondly, necessary and sufficient condition for the existence of a static output feedback control pattern, stabilizing the controlled discrete event dynamical systems to some equilibrium point, is given, and constructive algorithm to seek the static output feedback control pattern is ***, a example is presented to illustrate the effectiveness of the proposed approach.

关键词： Semi-tensor product(STP) of matrices Discrete event dynamical systems(DESs) Finite automata Moore automata Static output feedback stabilization

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Development of a Tetris playing robot controlled by KNR 15

Development of a Tetris playing robot controlled by KNR

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15th IEEE International Conference on Mechatronics and Automation, ICMA 2018

作者： Wang, Ming Zhang, Yanlu Dong, Huifang Li, Xu Yu, Junzhi Department of Information and Electrical Engineering University of Shandong Jianzhu University Jinan250100 China Department of Intelligent Robotics State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China

ISBN: (纸本)9781538660720

Robot plays an increasingly important role in daily life. This paper presents a vision-based wheeled robot for playing Tetris. How to control the robot is elaborated at length in this paper. The robot adopted a KNR controller as its core controller. With a CCD sensor, it identified colored blocks, lines and the destination. All algorithms are programed with LabVIEW. The experiments and the contest validated the effectiveness of the proposed vision-based wheeled robot system. © 2018 IEEE.

关键词： controllers

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Research and Optimization of Conflict Search Algorithm for Multi-Agent Path Planning Based on Incremental Heuristic

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Journal of Physics: Conference Series 2021年第1期2024卷

作者： Yang Li Jun Wang Hualiang Zhang School of Computer Science Shenyang University of Chemical Technology Shenyang 110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang 110016 China. Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China. Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang 110169 China.

Conflict Based Search(CBS) is used for multi-agent Pathfinding (MAPF) to enable each Agent to reach the target node. The CBS algorithm uses the heuristic algorithm A* search to calculate the MAPF solution, and the path planning uses forward search, which cannot explore the path of the unknown region. On this basis, this paper proposes that, in the case of unknown map and changing environment at any time, when encountering new obstacles, the information obtained from previous search should be used without completely replanning the path. Because of the idea of incremental programming, the number of reprogramming times and the number of affected nodes can be reduced. The optimized algorithm consumes less time and memory, and improves the efficiency of path planning.

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Design of a novel 6-DoF robotic system for pituitary tumor removal under MRI guidance

Design of a novel 6-DoF robotic system for pituitary tumor r...

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International Conference on control, Automation and Systems ( ICCAS)

作者： Muhammad Umar Farooq Kyoungrae Cha Dae Kyung Sohn Heon Yoo Seong Young Ko Medical Robotics and Intelligent Control Laboratory (MeRIC-Lab) Chonnam National University Gwangju Korea Medical Device Development Center Daegu Gyeongbuk Medical Innovation Foundation Center for Colorectal Cancer National Cancer Center Neuro Oncology Clinic National Cancer Center

Magnetic resonance imaging (MRI) provide superior visuals that might be suitable for complicated surgical procedures in complex parts of the human body like brain and heart. Brain tumor removal is one of the trickiest surgical procedures and the pituitary tumor is one of the most common type of intracranial tumors. In this paper, we present an MRI compatible robotic system for pituitary tumor removal via trans-nasal access to the surgical site. The robotic system is designed to operate in a Siemens® 3T MRI scanner. A 5mm diameter and 6-DOF design specific manipulator is developed to access the pituitary glands and remove the tumor using the commercially available tools. The actuation system is designed to fit inside the MRI bore and operate just above the nasal entry point. The manipulator is designed to work in a 20×20mm workspace of the pituitary gland and this workspace is validated by experiments. The presented robotic system is expected to decrease the complexity by accessing the surgical site through the nasal cavity and improve the quality of tumor removal by providing better image quality under MRI guidance.

关键词： Magnetic resonance imaging Manipulators Tumors Electron tubes Shafts Actuators

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Interactive ADRC Design for Flight Attitude control 6

Interactive ADRC Design for Flight Attitude Control

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2017 IEEE 6th Data Driven control and Learning Systems Conference (DDCLS’17)

作者： Shunjian Ma Mingwei Sun Zengqiang Chen College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics

ISBN: (纸本)9781509054626

Flight vehicle attitude control is of great importance. In this paper, a flight controller based on active disturbance rejection control(ADRC) is proposed. Then stability margin tester is utilized to tune the parameters of the controller to meet the specified stability margins, which will serve as a practical tuning method in practice. Moreover, the CAD software based on MATLAB GUI is designed to integrate the tuning and simulation process. Then the simulations are implemented to demonstrate the effectiveness of this controller and tuning method.

关键词： Flight attitude control ADRC Stability margin tester Software

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Coordinated Optimization Method of Dual Head Gasoline Blending Under Strict Constraint Conditions

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Shiyou Xuebao, Shiyou Jiagong/Acta Petrolei Sinica (Petroleum Processing Section) 2019年第2期35卷 337-347页

作者： He, Renchu Chen, Haiquan Zhang, Weidong Zhu, Wenqi Key Laboratory of Advanced Control and Optimization Technology for Chemical Processes Ministry of Education East China University of Science and Technology Shanghai200237 China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai University Shanghai200072 China Information and Measurement Center Jinling Company SINOPEC Nanjing210033 China Storage and Transportation Department Zhenhai Refining&Chemical Company SINOPEC Ningbo315207 China

For the upcoming China Ⅵ gasoline standard with much more strictly controlled properties, and high requirements for blending efficiency, a blending process and coordinated optimization algorithm for blending multiple brands of gasoline at the same time were developed. Octane number model, vapor pressure model, density model, distillation range model and content attribute model were established. The calculation process of octane number model and distillation range model have been improved, and 12 quality indicators of gasoline can be precisely monitored during the blending process. Considering the actual accumulative blending process, the properties of gasoline in the tank during the blending process should be converted into instantaneous properties zone at the blending head. The optimized properties of the blending head are used to compensate the properties deviation of the amount of blending and the tank bottom oil. Meanwhile, a reasonable and efficient coordination optimization algorithm is used to coordinate the upper limit of the common component oil, which solves the problem of scramble for the common component oil flow in the double blending head in the blending process. The simulation results show that the design method can be applied to the gasoline blending of double head in the field, and can also provide technical support for the upgrading of gasoline blending process under the China Ⅵ gasoline standard. © 2019, Editorial Office of Acta Petrolei Sinica(Petroleum Processing Section). All right reserved.

关键词： Gasoline

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Curved path planning based on 3D vision water immersion ultrasonic nondestructive testing

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Journal of Physics: Conference Series 2021年第1期2024卷

作者： Zheng Chen Jian Wang Hualiang Zhang School of Information Engineering Shenyang University of Chemical Technology Shenyang Liaoning 110142 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang Liaoning 110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang Liaoning 110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang Liaoning 110169 China

Compared with traditional 2D image processing, 3D point cloud processing has become a hot technology in the industry, but there are few researches applied to nondestructive testing of curved workpieces. This article aims at the non-destructive testing of curved workpieces, using 3D point cloud and robotic arm for water immersion ultrasonic non-destructive testing. Aiming at the 3D point cloud with many outliers, using the commonly used filter in two-dimensional images-the guide filter, the algorithm is improved and used for the filtering and downsampling of the 3D point cloud, and the adjustment of the curved surface workpiece and the robot arm's pose is introduced. Finally, the workpiece was scanned by a robotic arm with a water immersion ultrasonic nondestructive testing system to prove the feasibility of the experiment and improve the detection efficiency of traditional nondestructive testing technology.

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Development of a digital platform for the implementation of distributed control and navigation systems for underwater robotic systems performing technological operations in Arctic

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IOP Conference Series: Earth and Environmental Science 2021年第1期816卷

作者： V F Filaretov D A Yukhimets A V Zuev A S Gubankov D D Minaev Department of Automation and Robotics Far Eastern Federal University Vladivostok Russia Robotic Lab Institute of Automation and Control Processes Far Eastern Branch of Russian Academy of Science Vladivostok Russia Laboratory of intelligent information systems for marine robots Institute of Marine Technology Problems Far Eastern Branch of Russian Academy of Science Vladivostok Russia PAO 'Dalpribor' Vladivostok Russia

The paper proposes the architecture of a digital platform for the implementation of distributed control and navigation systems for underwater robotic systems that perform technological operations in Arctic. A system of command has been developed for this platform, which provides flexible assignment of various types and purposes of underwater robots missions. The concept of creating distributed control systems of the underwater robots is proposed. It provides the compatibility of existing on-board underwater robots systems with the proposed solution based on compact hydroacoustic systems of global hydroacoustic navigation developed in PAO 'Dalpribor' (Vladivostok).

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Analysis of opinion consensus and fluctuation over networks

Analysis of opinion consensus and fluctuation over networks

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第37届中国控制会议

作者： Guiyuan Fu Mingming Ji Jingti Han Institute of Fintech Shanghai University of Finance and Economics Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science

The dynamics of opinion formation with two types of individuals over social networks is analyzed in this *** each interaction, individuals pick up one of his neighbors with a probability depending on the neighbor’s closeness and popularity and update their opinion based on the convex combination of the opinion of the interactive individuals. It is found that when the stubborn individuals have the same initial opinion, the whole population will definitely converge to a consensus,otherwise, opinion fluctuation can be be observed if regular individuals can reach at least two stubborn individuals with different opinion. Moreover, in the small world network larger average degree and rewiring probability can accelerate convergence speed to a large extent especially when they are relative small. The results may have some insight on the opinion dynamics in the real world.

关键词： Opinion Consensus Fluctuation Social Networks Stubborn Individual

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Identification of Systems with Logarithmic Quantizer

Identification of Systems with Logarithmic Quantizer

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第37届中国控制会议

作者： Mingming Ji Guiyuan Fu Laboratory of Intelligent Control and Robotics Shanghai University of Engineering Science Institute of Fintech Shanghai University of Finance and Economics

The identification problem of systems with logarithmic quantized data is analyzed in this paper. A discrete-time system with an unknown parameter vector and Gaussian noise is considered. The output of the system is quantized by a logarithmic quantizer. The estimator of the unknown parameter vector is obtained using the quantile-based estimation. The convergence almost everywhere of the estimator and the upper bound of the estimation error are also analyzed, respectively.

关键词： System identification logarithmic quantizer estimator estimation error

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