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第36届中国控制会议

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

ISBN: (纸本)9781538629185

This paper considers the containment control problem for second-order multi-agent systems in the presence of communication noise and dynamically switching *** control protocol is proposed for containment control,where a positive time-varying gain is employed in the protocol to attenuate the effect of *** stability of the proposed containment control protocol is studied with the assumption that the communication topology is jointly-connected,and some constraint conditions for containment control are derived with the aid of modern control theory and stochastic *** results are provided to verify the correctness and effectiveness of the obtained theoretical results.

关键词： mean square containment control second-order multi-agent systems jointly-connected communication noise

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Modeling and Motion controller Design of Clamping Endoscopic Mechanical Arm 29

Modeling and Motion Controller Design of Clamping Endoscopic...

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第29届中国控制与决策会议

作者： Yedan Li Jianxun Zhang Yu Dai Gang Cao College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781509046584

Minimally invasive surgery robot has been widely used in the medical field,which improves the quality of *** with the robot system for clamping endoscopic mechanical arm developed by our team,studies have been focused on the motion *** the forward and inverse kinematics of clamping endoscopic mechanical arm is established by using the method of D-H *** the mapping relation between angular velocity of a joint space and line speed of Cartesian coordinate system is *** provides the foundation for the kinematics control *** the advantage of DSP in digital signal processing and the flexibility of CPLD in constructing logic functions,a hardware system is designed and implemented according to practical requirements in the ***,the fixed learning rate of the SPIDNN control algorithm is improved to the variable learning rate that can be adjusted online,and the speed control and the position control of the clamping endoscopic mechanical arm is realized by using the improved SPIDNN control *** show that the improved control method has better control quality than the traditional PI control method,and the controller meets the real-time and stability requirements of the motion control.

关键词： Kinematic Modeling Clamping Endoscopic Mechanical Arm DSP CPLD SPIDNN

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Improved Live-Wire algorithm for kidney image segmentation 36

Improved Live-Wire algorithm for kidney image segmentation

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第36届中国控制会议

作者： Hongliang Li Yu Dai Jianxun Zhang College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781538629185

Live-Wire segmentation algorithm is an interactive tool for efficient,accurate and reproducible boundary extraction which requires minimal user *** the traditional Live-Wire algorithm is sensitive to noise and inefficient to distinguish between strong and weak edges in the *** overcome the two drawbacks,this paper proposes an improved Live-Wire algorithm,its cost function is redefined:(1) change the Laplace operator into Canny and Sobel operators to construct the multiple cost terms,differences between Canny and Sobel operators allow them to contribute to the total cost calculation without redundant information;(2) redefine the gradient magnitude function of the cost function as nonlinear weighting edge gradient,the nonlinear weighting procedure can solve the undistinguished edge problem very *** are conducted on simulation and real image of the *** experimental results prove that the proposed algorithm is really of good performance in the two drawbacks.

关键词： Live-Wire algorithm image segmentation cost function synthetic image

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Leader-following consensus of second-order multi-agent systems with a smart leader 36

Leader-following consensus of second-order multi-agent syste...

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第36届中国控制会议

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

ISBN: (纸本)9781538629185

In this paper,the consensus problem for second-order leader-following multi-agent systems with a smart leader is *** smart leader tracks a desired system target so that the followers can follow the leader and there state can reach consensus *** the average distance among the smart leader and its neighboring followers increases,the smart leader can utilize the feedback information of its neighboring followers to adjust its own state,which can reduce the tracking errors among the smart leader and *** an extension,the influence of the smart leader on the controller costs of the multi-agent system is ***,several comparative experiments are given to illustrate the superiority of the smart leader.

关键词： smart leader multi-agent systems leader-following consensus tracking errors

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Quantitative Relationship in Terms of Time-Delay Tolerance of Two Kinds of Extended State Observers 6

Quantitative Relationship in Terms of Time-Delay Tolerance o...

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

作者： Minnan Piao Kai Zhu Mingwei Sun Zenghui Wang Zengqiang Chen College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781509054626

Active Disturbance Rejection control(ADRC), an innovative control method, has been applied successfully in dealing with internal uncertainties and external disturbances. However, ADRC for time-delay plants is still a challenge due to the restriction on the bandwidth of the extended state observer(ESO). When designing the ESO for time-delay plants, both fullorder and reduced-order extended state observers can be utilized and the selection of the proper order and the bandwidth of the ESO is necessary. Therefore we seek to compare the two kinds of observers in terms of the time-delay tolerance of the closedloop stability and find an appropriate bandwidth to ensure the robustness to the time-delay uncertainty. First, the quantitative bandwidth relationship between the two kinds of observers is established with the equivalent effective bandwidth, and then the time-delay tolerance of the closed-loop stability are calculated for the first-and second-order plants to conduct the comparison,whilst the effects of the bandwidth and other parameters on the time-delay tolerance is analyzed. Furthermore, simulation results for a second-order plant are provided to verify the meaning of this investigation.

关键词： ADRC Extended State Observer Effective Bandwidth Time-Delay Tolerance

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Benchmark problems for transcranial ultrasound simulation: Intercomparison of compressional wave models

arXiv

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arXiv 2022年

作者： Aubry, Jean-Francois Bates, Oscar Boehm, Christian Pauly, Kim Butts Christensen, Douglas Cueto, Carlos Gélat, Pierre Guasch, Lluis Jaros, Jiri Jing, Yun Jones, Rebecca Li, Ningrui Marty, Patrick Montanaro, Hazael Neufeld, Esra Pichardo, Samuel Pinton, Gianmarco Pulkkinen, Aki Stanziola, Antonio Thielscher, Axel Treeby, Bradley Van't Wout, Elwin Physics for Medicine Paris INSERM U1273 ESPCI Paris PSL University CNRS UMR 8063 France Department of Bioengineering Imperial College London Exhibition Road LondonSW7 2AZ United Kingdom Institute of Geophysics ETH Zürich Sonneggstrasse 5 Zürich8092 Switzerland Department of Radiology Stanford University StanfordCA United States Department of Biomedical Engineering Department of Electrical and Computer Engineering University of Utah United States Department of Surgical Biotechnology Division of Surgery and Interventional Science University College London LondonNW3 2PF United Kingdom Earth Science and Engineering Department Imperial College London London United Kingdom Centre of Excellence IT4Innovations Faculty of Information Technology Brno University of Technology Bozetechova 2 Brno612 00 Czech Republic Graduate Program in Acoustics The Pennsylvania State University University Park PA16802 United States Joint Department of Biomedical Engineering University of North Carolina at Chapel Hill North Carolina State University NC United States Department of Electrical Engineering Stanford University StanfordCA United States Zurich Switzerland Laboratory for Acoustics / Noise control Empa Swiss Federal Laboratories for Materials Science and Technology Dubendorf Switzerland Zurich Switzerland Radiology and Clinical Neurosciences Departments Cumming School of Medicine University of Calgary Canada Department of Applied Physics University of Eastern Finland Kuopio70211 Finland Department of Medical Physics and Biomedical Engineering University College London Gower Street LondonWC1E 6BT United Kingdom Technical University of Denmark Denmark Danish Research Center for Magnetic Resonance Copenhagen University Hospital Hvidovre Denmark Institute for Mathematical and Computational Engineering School of Engineering and Faculty of Mathematics Pontificia Universidad Catolica de Chile Santiago Chile

Computational models of acoustic wave propagation are frequently used in transcranial ultrasound therapy, for example, to calculate the intracranial pressure field or to calculate phase delays to correct for skull distortions. To allow intercomparison between the different modeling tools and techniques used by the community, an international working group was convened to formulate a set of numerical benchmarks. Here, these benchmarks are presented, along with intercomparison results. Nine different benchmarks of increasing geometric complexity are defined. These include a single-layer planar bone immersed in water, a multi-layer bone, and a whole skull. Two transducer configurations are considered (a focused bowl and a plane piston), giving a total of 18 permutations of the benchmarks. Eleven different modeling tools are used to compute the benchmark results. The models span a wide range of numerical techniques, including the finite-difference time-domain method, angular-spectrum method, pseudospectral method, boundary-element method, and spectral-element method. Good agreement is found between the models, particularly for the position, size, and magnitude of the acoustic focus within the skull. When comparing results for each model with every other model in a cross comparison, the median values for each benchmark for the difference in focal pressure and position are less than 10% and 1 mm, respectively. The benchmark definitions, model results, and intercomparison codes are freely available to facilitate further comparisons. Copyright © 2022, The Authors. All rights reserved.

关键词： Bone

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A Geometric Pulling Force controller for Aerial Robotic Workers

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IFAC-PapersOnLine 2017年第1期50卷 10287-10292页

作者： Wuthier D. Kominiak D. Fresk E. Nikolakopoulos G. Robotics Group at the Control Engineering Division of the Department of Computer Electrical and Space Engineering Luleå University of Technology Luleå SE-97187 Sweden

The aim of this article is to establish a geometric, pulling force control scheme in order to enable the concept of Aerial Robotic Workers (ARWs), where the capabilities of the Unmanned Aerial Vehicles (UAVs) are enhanced by aerial manipulators in order to exert known pulling forces on the environment, with characteristic applications such as levers actuation, debris removal and safety assessments. The proposed novel approach consists of interfacing a cascaded position control scheme with a manipulation framework in such a way that the UAV, together with the manipulator are being controlled in a complete system The validity of the proposed scheme as well as the ability of the UAV to track a desired pulling force is validated through a real-world experiment. © 2017

关键词： aerial manipulation field robotics flying robots robots manipulators unmanned aerial vehicles

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Recursive network estimation from binary-valued observation data

arXiv

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arXiv 2019年

作者： Xing, Yu He, Xingkang Fang, Haitao Johansson, Karl Henrik Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Mathematical Sciences University of Chinese Academy of Sciences Beijing100049 China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology StockholmSE-10044 Sweden

This paper studies the problem of recursively estimating the weighted adjacency matrix of a network out of a temporal sequence of binary-valued observations. The observation sequence is generated from nonlinear networked dynamics in which agents exchange and display binary outputs. Sufficient conditions are given to ensure stability of the observation sequence and identifiability of the system parameters. It is shown that stability and identifiability can be guaranteed under the assumption of independent standard Gaussian disturbances. Via a maximum likelihood approach, the estimation problem is transformed into an optimization problem, and it is verified that its solution is the true parameter vector under the independent standard Gaussian assumption. A recursive algorithm for the estimation problem is then proposed based on stochastic approximation techniques. Its strong consistency is established and convergence rate analyzed. Finally, numerical simulations are conducted to illustrate the results and to show that the proposed algorithm is insensitive to small unmodeled factors. Copyright © 2019, The Authors. All rights reserved.

关键词： Approximation theory

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Enhanced valley zeeman splitting in fe-doped monolayer mos2

arXiv

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arXiv 2020年

作者： Li, Qi Zhao, Xiaoxu Deng, Longjiang Shi, Zhongtai Liu, Sheng Wei, Qilin Zhang, Linbo Cheng, Yingchun Zhang, Li Lu, Haipeng Gao, Weibo Huang, Wei Qiu, Cheng-Wei Xiang, Gang Pennycook, Stephen John Xiong, Qihua Loh, Kian Ping Peng, Bo National Engineering Research Center of Electromagnetic Radiation Control Materials School of Electronic Science and Engineering University of Electronic Science and Technology of China Chengdu611731 China Department of Materials Science and Engineering National University of Singapore 9 Engineering Drive 1 117575 Singapore Department of Chemistry Centre for Advanced 2D Materials Graphene Research Centre National University of Singapore 117549 Singapore Division of Physics and Applied Physics School of Physical and Mathematical Sciences Nanyang Technological University 637371 Singapore Key Laboratory of Flexible Electronics Institute of Advanced Materials Nanjing Tech University Nanjing211816 China College of Physical Science and Technology Sichuan University Chengdu610064 China Department of Electrical and Computer Engineering National University of Singapore 117583 Singapore

The "Zeeman effect" offers unique opportunities for magnetic manipulation of the spin degree of freedom (DOF). Recently, valley Zeeman splitting, referring to the lifting of valley degeneracy, has been demonstrated in two-dimensional transition metal dichalcogenides (TMDs) at liquid helium temperature. However, to realize the practical applications of valley pseudospins, the valley DOF must be controllable by a magnetic field at room temperature, which remains a significant challenge. Magnetic doping in TMDs can enhance the Zeeman splitting, however, to achieve this experimentally is not easy. Here, we report unambiguous magnetic manipulation of valley Zeeman splitting at 300 K (geff = -6.4) and 10 K (geff = -11) in a CVD-grown Fe-doped MoS2 monolayer;the effective Landé geff factor can be tuned to -20.7 by increasing the Fe dopant concentration, which represents an approximately fivefold enhancement as compared to undoped MoS2. Our measurements and calculations reveal that the enhanced splitting and geff factors are due to the Heisenberg exchange interaction of the localized magnetic moments (Fe 3d electrons) with MoS2 through the d-orbital hybridization. Copyright © 2020, The Authors. All rights reserved.

关键词： Landforms

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Spacecraft heath monitoring using a biomimetic fault diagnosis scheme

Spacecraft heath monitoring using a biomimetic fault diagnos...

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作者： Garcia, Diego F. Perez, Andres E. Moncayo, Hever Rivera, Karina Betancur, Yomary DuPuis, Michael Mueller, Robert P. Department of Aerospace Engineering Flight Dynamics and Control Research Laboratory Embry-Riddle Aeronautical University Daytona BeachFL United States Research Engineer Robotics and Autonomous Systems Testing and Design Branch Swamp Works Laboratory United States Senior Technologist Exploration Research and Technology Programs Science and Technology Projects Division United States

This paper presents the design, development, and implementation of a bioinspired fault diagnosis scheme applied to a cold gas-based spacecraft *** proposed framework relies on the artificialimmune system metaphor with the goal of monitoring the health of the spacecraft by detecting subsystem upset conditions such as actuator *** dynamic inversion baseline controller with adaptation capabilities has been developed and implemented for attitude control of the spacecraft. The performance of the proposed health-monitoring scheme is determined by analyzing the system response under different actuator failures while the spacecraft is operated with and without adaptive augmentation. In both cases, the results show acceptable performance in terms of high detection activity and low false alarms with real-Time capabilities. The application of this artificial intelligence-based scheme to aerospace systems will provide a high impact on space exploration by increasing mission protection and performance. © 2018 by H. Moncayo. Published by the American Institute of Aeronautics and Astronautics.

关键词： Attitude control

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