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arXiv 2018年

作者： Yang, Tao George, Jemin Qin, Jiahu Yi, Xinlei Wu, Junfeng State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang110819 China U.S. Army Research Laboratory AdelphiMD20783 United States Department of Automation University of Science and Technology of China Hefei230027 China Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm100 44 Sweden College of Control Science and Engineering Zhejiang University Hangzhou310027 China

In this paper, we study the problem of finding the least square solutions of over-determined linear algebraic equations over networks in a distributed manner. Each node has access to one of the linear equations and holds a dynamic state. We first propose a distributed least square solver over connected undirected interaction graphs and establish a necessary and sufficient on the step-size under which the algorithm exponentially converges to the least square solution. Next, we develop a distributed least square solver over strongly connected directed graphs and show that the proposed algorithm exponentially converges to the least square solution provided the step-size is sufficiently small. Moreover, we develop a finite-time least square solver by equipping the proposed algorithms with a finite-time decentralized computation mechanism. The theoretical findings are validated and illustrated by numerical simulation examples. Copyright © 2018, The Authors. All rights reserved.

关键词： Linear equations

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An Improved Registration Algorithm based on Geometric Feature for the Calibration of Workpiece Coordinate 35

An Improved Registration Algorithm based on Geometric Featur...

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第35届中国控制会议

作者： LV Liang SUN Lei Institute of Robotics and Automatic Information System College of Computer and Control engineeringNankai University Tianjin Key Laboratory of Intelligent Robotics

ISBN: (纸本)9781509009107

Since target points could be generated quickly and accurately by off-line programming in the industrial robot machining,it is used widely in industrial *** to installation error and mismachining tolerance which causes the offset of processing paths in the actual machining process,the registration algorithms for path calibration would be *** the traditional approach would converge to local optimal solution,an improved registration algorithm based on geometric properties of point clouds is proposed in the ***,feature point sets are acquired by the curvature of point clouds and matched by traditional PCA algorithm,an initial value for precise registration is ***,the improved ICP algorithm by curvature is utilized to modify the former result and reduce the execution time of precise registration,the path calibration can be *** experimental result of the approach is validated in this paper which is significative for calibration of processing paths.

关键词： Registration Curvature Feature Point Sets Path Calibration

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On active decoupling control for horizontal-lateral direction of hypersonic flight based on HIFOO 21

On active decoupling control for horizontal-lateral directio...

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21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017

作者： Ma, Shunjian Zhu, Kai Sun, Mingwei Wang, Zenghui Chen, Zengqiang Dept. of Automation and Intelligent Science Nankai University College of Computer and Control Engineering Tianjin300350 China Beijing Aerospace Technology Institute Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Beijing Aerospace Technology Institute Beijing100074 China Department of Electrical and Mining Engineering University of South Africa FL1710 South Africa

ISBN: (数字)9781624104633

ISBN: (纸本)9781624104633

Nowadays, hypersonic flight vehicles are widely studied. Since their high nonlinearity, strong coupling and uncertain factors, the conventional three-channel independent control design method is often unable to work well. In this paper, an active disturbance rejection controller (ADRC) is utilized to cancel internal uncertainties and exogenous disturbances for longitudinal dynamics. Then, the MIMO robust controller is obtained by choosing proper sensitivity functions and weighting functions to reduce horizontal-lateral direction coupling. The conventional H robust controllor is high-order, which is difficult for practitioners to implement. With frequency transformation, both ADRC for the longitudinal dynamics and MIMO robust controller for the horizontal-lateral dynamics are reformed into the static output feedback structure to reduce the high order of controller. Finally, all parameters in the controllers can be optimized by HIFOO (H-Infinity Fixed Order Optimization). The Winged-Cone, a 6-freedom NASA hypersonic vehicle model, is used as a benchmark, and Monte Carlo simulations demonstrate the effectiveness of the proposed method. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： controllers

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Wastewater sequencing reveals early cryptic SARS-CoV-2 variant transmission

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四川生理科学杂志 2022年第6期44卷 1118-1118页

作者： Smruthi Karthikeyan Department of Pediatrics University of California San Diego La Jolla CA USA Department of Biomedical Informatics University of California San Diego La Jolla California USA Department of Computer Science and Engineering University of California San Diego La Jolla CA USA Department of Bioengineering University of California San Diego La Jolla CA USA Department of Immunology and Microbiology The Scripps Research Institute La Jolla CA USA Expedited COVID Identification Environment (EXCITE) Laboratory Department of Pediatrics University of California San Diego La Jolla CA USA Department of Obstetrics Gynecology and Reproductive Sciences University of California San Diego La Jolla CA USA COVID-19 Detection Investigation Surveillance Clinical and Outbreak Response California Department of Public Health Richmond CA USA Sanford Consortium of Regenerative Medicine University of California San Diego La Jolla CA USA Department of Cellular and Molecular Medicine University of California San Diego La Jolla CA USA Student Health and Well-Being University of California San Diego La Jolla CA USA Center for Computational Biology and Bioinformatics University of California San Diego La Jolla CA USA Institute for Genomic Medicine University of California San Diego La Jolla CA USA Operational Strategic Initiatives University of California San Diego La Jolla CA USA Return to Learn University of California San Diego La Jolla CA USA Student Affairs University of California San Diego La Jolla CA USA Academic Affairs University of California San Diego La Jolla CA USA Department of Pathology University of California San Diego La Jolla CA USA Scripps Health San Diego La Jolla CA USA Rady Children’s Institute for Genomic Medicine San Diego CA USA Sharp Healthcare San Diego CA USA Helix San Mateo CA USA County of San Diego Health and Human Services Agency San Diego CA USA Herbert Wertheim School of Public Health and Human Longevity Science Univers

As SARS-CoV-2 continues to spread and evolve,detecting emerging variants early is critical for public health *** lineage prevalence by clinical testing is infeasible at scale,especially in areas with limited resources,participation,or testing/sequencing capacity,which can also introduce ***-CoV-2 RNA concentration in wastewater successfully tracks regional infection dynamics and provides less biased abundance estimates than clinical testing4,*** virus genomic sequences in wastewater would improve community prevalence estimates and detect emerging variants.

关键词： wastewater Wastewater testing

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LPV-based torque control for an extreme-scale morphing wind turbine rotor

LPV-based torque control for an extreme-scale morphing wind ...

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American control Conference

作者： Dana P. Martin Kathryn E. Johnson Daniel S. Zalkind Lucy Y. Pao Colorado School of Mines Division of Electrical Engineering Golden 80401 USA Colorado School of Mines Division of Electrical Engineering 80401 USA University of Colorado - Boulder 80309 USA Control Systems Sensor Fusion and Robotics Laboratory USA

ISBN: (纸本)9781509045839

Recent trends in wind turbine design have demonstrated that decreased levelized cost of energy (LCOE) can be achieved by increasing rotor size and therefore the amount of energy a wind turbine can capture. However, as rotor radii increase into extreme scales, it is likely that the increased mass required to maintain the necessary structural strength for three-bladed upwind turbines will drive up costs faster than they can be outweighed by increased energy production. We are part of a team that has been working to design a two-bladed, downwind 13.2 MW wind turbine rotor that maintains structural integrity by using load alignment and active coning. Together with the increased scale and downwind configuration, the active coning provides both additional challenges and opportunities for turbine control. In this paper, we design and evaluate a linear parameter varying (LPV) generator torque control technique that compensates for the changing system dynamics as the rotor coning angle changes.

关键词： Torque control Wind Energy Conversion Systems TURBINE ROTOR cone angle turbine control Power production image morphing System dynamics energy capacity STRUCTURAL INTEGRITY before the wind

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Dynamic modeling of a parafoil system considering flap deflection

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Journal of Southeast University(English Edition) 2017年第4期33卷 416-425页

作者： Tao Jin Sun Qinglin Chen Zengqiang He Yingping Tianjin Key Laboratory of Intelligent Robotics Technology Nankai University Tianjin 300350 China College of Computer and Control Engineering Nankai University Tianjin 300350 China Aerospace Life-Support Industries L td . Aviation Industry Corporation of China Xiangyang 441003 China

In order to better study the dynamic characteristics and the control strategy of parafoil systems,considering the effect of flap deflection as the control mechanism and regarding the parafoil and the payload as a rigid body,a six degrees-of-freedom(DOF)dynamic model of a parafoil system including three DOF for translational motion and three DOF for rotational motion,is established according to the K rchhoff motion *** the flexible winged paafoil system flying at low altitude is more susceptibleto winds,the motion characteristics of the parafoil system Wth and Wthout winds are simulated and ***,the ardropm test is used to further verify the *** comparison results show that the simulation trajectory roughly overlaps with the actual flight *** horzontnl velocity of the simulation model is in good accordance with the airdrop test,with a deviation less than0.5m/s,while its simulated vertical velocity fuctuates slightly under the infuence of the wind,and shows a similar trend to the ardrop *** is concludedthat the established model can well describe the characteristics of the parafoil system.

关键词： parafoil system dynamic modeling and simulation fig h t chaacterstic airdrop experiment fap defection

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Calculating Basis Siphons of Petri Nets Based on Semi-tensor Product of Matrices 35

Calculating Basis Siphons of Petri Nets Based on Semi-tensor...

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第35届中国控制会议

作者： HAN Xiaoguang CHEN Zengqiang LIU Zhongxin ZHANG Qing College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781509009107

In this paper, we address the problem of calculating basis siphons in Petri nets(PNs) by resorting to the semi-tensor product(STP) of matrices. The proposed appraoch is based on our previous results on the calculation of siphons and minimal siphons in PNs, whose key notion is that of the siphon equation(SE) of PNs. First, we discuss the properties of the SE of PNs in the framework of STP. Second, an efficient recursion algorithm is proposed, which can be applied to computing all basis siphons for any PNs. Some results on the computational complexity of the proposed algorithm, in this paper, are also provided, as well as comparison with the existing approach. Last, an example is presented to illustrate the theoretical results. The proposed approach proved highly effective in calculating all basis siphons of PNs and only requires matrix manipulations.

关键词： Basis siphons Discrete event systems(DESs) Petri nets(PNs) Semi-tensor product(STP) of matrices Siphon equation(SE)

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A unified leader-follower scheme for mobile robots with uncalibrated on-board camera

A unified leader-follower scheme for mobile robots with unca...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Dejun Guo Hesheng Wang Weidong Chen Ming Liu Zeyang Xia Kam K. Leang DARC (Design Automation Robotics & Control) Lab University of Utah Robotics Center Salt Lake City Utah USA State Key Laboratory of Robotics and System (HIT) Key Laboratory of System Control and Information Processing Ministry of Education of China Department of Automation Shanghai Jiao Tong University Shanghai China Department of Electronics and Computer Engineering Hong Kong University of Science and Technology Hong Kong China Institute of Biomedical and Health Engineering Chinese Academy of Sciences Shenzhen China

This paper studies the problem of image-based leader-follower formation control for mobile robots, where the controller is designed independently of the leader's motion. An adaptive control scheme, which is suitable for both omnidirectional and perspective cameras, is proposed. The proposed approach avoids the need for accurate calibration of the extrinsic parameters of the omnidirectional camera as well as the intrinsic and extrinsic parameters of perspective camera. Additionally, the coefficients of the plane where the feature point moves relative to the camera frame can be uncertain. These uncertain constant parameters are estimated using an adaptive estimator. Uniform Semi-global Practical Asymptotic Stability (USPAS) of the system is shown using the Lyapunov approach. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

关键词： Cameras Robot vision systems Kinematics Mobile robots Calibration Automation

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Global, regional, and national age-sex-specific burden of diarrhoeal diseases, their risk factors, and aetiologies, 1990-2021, for 204 countries and territories: a systematic analysis for the Global Burden of Disease Study 2021

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LANCET INFECTIOUS DISEASES 2025年第5期25卷 519-536页

作者： Kyu, Hmwe Hmwe Vongpradith, Avina Dominguez, Regina-Mae Villanueva Ma, Jianing Albertson, Samuel B. Novotney, Amanda Khalil, Ibrahim A. Troeger, Christopher E. Doxey, Matthew C. Ledesma, Jorge R. Sirota, Sarah Brooke Bender, Rose Grace Swetschinski, Lucien R. Cunningham, Matthew Spearman, Sandra Abate, Yohannes Habtegiorgis Abd Al Magied, Abdallah H. A. Abd ElHafeez, Samar Abdoun, Meriem Abera, Bayeh Abidi, Hassan Aboagye, Richard Gyan Abtew, Yonas Derso Abualruz, Hasan Abu-Gharbieh, Eman Abukhadijah, Hana J. Aburuz, Salahdein Addo, Isaac Yeboah Adekanmbi, Victor Adetunji, Charles Oluwaseun Oluwaseun Adeyeoluwa, Temitayo Esther Adhikary, Ripon Kumar Adnani, Qorinah Estiningtyas Sakilah Adra, Saryia Adzigbli, Leticia Akua Afolabi, Aanuoluwapo Adeyimika Afzal, Muhammad Sohail Afzal, Saira Agampodi, Suneth Buddhika Agide, Feleke Doyore Ahinkorah, Bright Opoku Ahmad, Aqeel Ahmad, Sajjad Ahmed, Ali Ahmed, Ayman Ahmed, Haroon Ahmed, Saeed Akinosoglou, Karolina Akter, Ema Al Awaidy, Salah Alajlani, Muaaz M. Alam, Khurshid Albakri, Almaza Albashtawy, Mohammed Aldhaleei, Wafa A. Algammal, Abdelazeem M. Al-Gheethi, Adel Ali Saeed Ali, Abid Syed Shujait Ali Ali, Waad Alif, Sheikh Mohammad Aljunid, Syed Mohamed Al-Marwani, Sabah Almazan, Joseph Uy Al-Mekhlafi, Hesham M. Almustanyir, Sami Alqahatni, Saleh A. Alrawashdeh, Ahmad Al-Rifai, Rami H. Alsabri, Mohammed A. Altaf, Awais Altirkawi, Khalid A. Alvis-Guzman, Nelson Alvis-Zakzuk, Nelson J. Alyahya, Mohammad Sharif Ibrahim Al-Zyoud, Walid A. Amugsi, Dickson A. Andrei, Catalina Liliana Antoni, Sebastien Anuoluwa, Boluwatife Stephen Anuoluwa, Iyadunni Adesola Anwari, Saleha Anwar Palwasha Apostol, Geminn Louis Carace Arabloo, Jalal Arafat, Mosab Aravkin, Aleksandr Y. Areda, Demelash Aregawi, Brhane Berhe Aremu, Abdulfatai Arndt, Michael Benjamin Asgedom, Akeza Awealom Ashraf, Tahira Athari, Seyyed Shamsadin Atreya, Alok Ayele, Firayad Azadi, Davood Azhar, Gulrez Shah Aziz, Shahkaar Azzam, Ahmed Y. Babu, Giridhara Rathnaiah Taghanaki, Pegah Bahrami Bahramian, Saeed Balakrishna Department of Health Metrics Sciences School of Medicine Institute for Health Metrics and Evaluation University of Washington Seattle 98195 WA United States Institute for Health Metrics and Evaluation University of Washington Seattle WA United States Department of Health Metrics Sciences School of Medicine University of Washington Seattle WA United States Center for Biostatistics Ohio State University Columbus OH United States Department of Global Health University of Washington Seattle WA United States Urban Indian Health Institute Seattle Indian Health Board Seattle WA United States School of Medicine Yale University New Haven CT United States Department of Clinical Governance and Quality Improvement Aleta Wondo General Hospital Aleta Wondo Ethiopia College of Pharmacy Ajman University Ajman United Arab Emirates Department of Epidemiology Alexandria University Alexandria Egypt Department of Medicine University of Sétif Algeria Sétif Algeria Department of Health Sétif Algeria Department of Medical Microbiology Bahir Dar University Bahir Dar Ethiopia Department of Biology Ghent University Ghent Belgium Laboratory Technology Sciences Department Yasuj University of Medical Sciences Yasuj Iran Department of Family and Community Health University of Health and Allied Sciences Ho Ghana Department of Biomedical Science Arba Minch University Arba Minch Ethiopia Department of Nursing Al Zaytoonah University of Jordan Amman Jordan Amman Jordan Department of Clinical Sciences Sharjah United Arab Emirates Department of Biopharmaceutics and Clinical Pharmacy University of Jordan Amman Jordan Medical Research Center-Academic Health System Hamad Medical Corporation Doha Qatar College of Pharmacy University of Jordan Amman Jordan Department of Therapeutics United Arab Emirates University Al Ain United Arab Emirates School of Medicine University of Sydney Sydney NSW Australia Centre for Social Research in Health University of New South Wales Syd

Background Diarrhoeal diseases claim more than 1 million lives annually and are a leading cause of death in children younger than 5 years. Comprehensive global estimates of the diarrhoeal disease burden for specific age groups of children younger than 5 years are scarce, and the burden in children older than 5 years and in adults is also understudied. We used results from the Global Burden of Diseases, Injuries, and Risk Factors Study 2021 to assess the burden of, and trends in, diarrhoeal diseases overall and attributable to 13 pathogens, as well as the contributions of associated risk factors, in children and adults in 204 countries and territories from 1990 to 2021. Methods We used the Cause of Death Ensemble modelling strategy to analyse vital registration data, verbal autopsy data, mortality surveillance data, and minimally invasive tissue sampling data. We used DisMod-MR (version 2.1), a Bayesian meta-regression tool, to analyse incidence and prevalence data identified via systematic reviews, population-based surveys, and claims and inpatient data. We calculated diarrhoeal disability-adjusted life-years (DALYs) as the sum of years of life lost (YLLs) and years lived with disability (YLDs) for each location, year, and age-sex group. For aetiology estimation, we used a counterfactual approach to quantify population-attributable fractions (PAFs). Additionally, we estimated the diarrhoeal disease burden attributable to the independent effects of risk factors using the comparative risk assessment framework. Findings In 2021, diarrhoeal diseases caused an estimated 1.17 million (95% uncertainty interval 0.793-1.62) deaths globally, representing a 60.3% (50.6-69.0) decrease since 1990 (2.93 million [2.31-3.73] deaths). The most pronounced decline was in children younger than 5 years, with a 79.2% (72.4-84.6) decrease in diarrhoeal deaths. Global YLLs also decreased substantially, from 186 million (147-221) in 1990 to 51.4 million (39.9-65.9) in 2021. In 2021, an esti

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On Trajectory Tracking for an Under-actuated Helicopter 35

On Trajectory Tracking for an Under-actuated Helicopter

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第35届中国控制会议

作者： LI Junfang LI Yi Gao Qiang SUN Mingwei CHEN Zengqiang Tianjin Key Laboratory of Intelligent Robotics Nankai University Dept of Automation College of Computer and Control Engineering Nankai University Dept of Automation College of Automation Tianjin University of Technology

ISBN: (纸本)9781509009107

This paper tackles the problem of the attitude tracking control for the 3-DOF helicopter. A robust tracking control scheme is proposed based on active disturbance rejection control(ADRC). Aiming at the 3-DOF helicopter manufactured by Quanser Inc, a high order nonlinear ESO is designed to implement the real-time estimation and online compensation of the external disturbance. Simulation results show high performance and good robustness in the presence of the external disturbance.

关键词： helicopter active disturbance rejection controller high order ESO trajectory tracking control

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