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第三十四届中国控制会议

作者： Zhengguang Ma Zhongxin Liu Zengqiang Chen Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781467374439

This paper investigates the dynamic role assignment and collision avoidance for the discrete-time system without global information. Based on the traditional formation control protocol, the formation control algorithm with dynamic role assignment is proposed. To make each agent act efficiently, we give an assignment transformation matrix by solving an optimal problem with distributed auction algorithm. Modified formation control algorithm with derivation of an avoidance function is presented, which can guarantee collision-free movement for each agent. Mathematical theory and simulation verify the effectiveness of the proposed algorithms.

关键词： Multi-agent system,formation,distributed auction algorithm,dynamic role assignment

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The 5th International Conference on Biomedical engineering and Biotechnology (ICBEB 2016) Abstracts

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BMC MEDICAL IMAGING 2016年第SUPPL 1期16卷 65-65页

作者： [Anonymous] Department of MRI Shandong Medical Imaging Research Institute Affiliated to Shandong University Jinan Shandong 250021 People’s Republic of China Department of Interventional Radiology Shandong Provincial Hospital Affiliated to Shandong University Jinan Shandong 250021 People’s Republic of China College of Information Science and Technology Engr. Research Center of Digitized Textile & Fashion Tech. for Ministry of Education Donghua University Shanghai 201620 China Intelligent multimedia information processing Lab College of Software Northeastern University Shenyang Liaoning Province 110004 China Institute of Biomedical and Health Engineering Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences Shenzhen 518055 China School of Computer Science and Technology Nanjing Normal University Nanjing China Department of Electrical Engineering The City College of New York CUNY New York USA Jiangsu Key Laboratory of 3D Printing Equipment and Manufacturing Nanjing China School of Electronic Science and Engineering Nanjing University Nanjing Jiangsu 210046 China College of Engineering Nanyang Technological University Singapore 639798 Singapore School of Electronic Information Shanghai Dianji University Shanghai China School of Natural Sciences and Mathematics Shepherd University Shepherdstown WV 25443 USA Davis College of Agriculture Natural Resources and Design West Virginia University Morgantown WV 26505 USA State Key Laboratory of Millimeter Waves Southeast University Nanjing 210096 China Center of Medical Physics and Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Hefei China College of Agricultural and Life Sciences University of Florida Gainesville FL 32611 USA Courant Institute of Mathematical Sciences New York University New York NY 10012 USA Translational Imaging Division & MRI Unit Columbia University and New York State Psychiatric Institute New York NY 10032 USA Guangxi Key Laboratory of Manufacturing System & Adv

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Global, regional, and national sex-specific burden and control of the HIV epidemic, 1990–2019, for 204 countries and territories: the Global Burden of Diseases Study 2019

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The Lancet HIV 2021年第10期8卷 e633-e651页

作者： Jahagirdar, Deepa Walters, Magdalene K. Novotney, Amanda Brewer, Edmond D. Frank, Tahvi D. Carter, Austin Biehl, Molly H. Abbastabar, Hedayat Abhilash, E.S. Abu-Gharbieh, Eman Abu-Raddad, Laith Jamal Adekanmbi, Victor Adeyinka, Daniel Adedayo Adnani, Qorinah Estiningtyas Sakilah Afzal, Saira Aghababaei, Soodabeh Ahinkorah, Bright Opoku Ahmad, Sajjad Ahmadi, Keivan Ahmadi, Sepideh Ahmadpour, Ehsan Ahmed, Muktar Beshir Rashid, Tarik Ahmed Salih, Yusra Ahmed Aklilu, Addis Akram, Tayyaba Akunna, Chisom Joyqueenet Al Hamad, Hanadi Alahdab, Fares Alanezi, Fahad Mashhour Aleksandrova, Ekaterina A. Alene, Kefyalew Addis Ali, Liaqat Alipour, Vahid Almustanyir, Sami Alvis-Guzman, Nelson Ameyaw, Edward Kwabena Amu, Hubert Andrei, Catalina Liliana Andrei, Tudorel Anvari, Davood Arabloo, Jalal Aremu, Olatunde Arulappan, Judie Atnafu, Desta Debalkie Quintanilla, Beatriz Paulina Ayala Ayza, Muluken Altaye Azari, Samad Darshan, B.B. Banach, Maciej Bärnighausen, Till Winfried Barra, Fabio Barrow, Amadou Basu, Sanjay Bazargan-Hejazi, Shahrzad Belay, Habtamu Gebrehana Berheto, Tezera Moshago Bezabhe, Woldesellassie Mequanint Bezabih, Yihienew Mequanint Bhagavathula, Akshaya Srikanth Bhardwaj, Nikha Bhardwaj, Pankaj Bhattacharyya, Krittika Bibi, Sadia Bijani, Ali Bisignano, Catherine Bolarinwa, Obasanjo Afolabi Boloor, Archith Boltaev, Azizbek A. Briko, Nikolay Ivanovich Buonsenso, Danilo Burkart, Katrin Butt, Zahid A. Cao, Chao Charan, Jaykaran Chatterjee, Souranshu Chattu, Soosanna Kumary Chattu, Vijay Kumar Choudhari, Sonali Gajanan Chu, Dinh-Toi Couto, Rosa A.S. Cowden, Richard G. Dachew, Berihun Assefa Dadras, Omid Dagnew, Amare Belachew Dahlawi, Saad M.A. Dai, Xiaochen Dandona, Lalit Dandona, Rakhi das Neves, José Degenhardt, Louisa Demeke, Feleke Mekonnen Desta, Abebaw Alemayehu Deuba, Keshab Dhamnetiya, Deepak Dhungana, Govinda Prasad Dianatinasab, Mostafa Diaz, Daniel Djalalinia, Shirin Doan, Linh Phuong Dorostkar, Fariba Edinur, Hisham Atan Effiong, Andem Eftekharzadeh, Sahar El Sayed Zaki, Maysaa Elayedath, Rajesh Elhadi, 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 Division of Allergy and Infectious Diseases University of Washington Seattle WA United States Department of Global Health University of Washington Seattle WA United States School of Social Work University of Washington Seattle WA United States Department of Medicine University of Washington Seattle WA United States Vagelos College of Physicians and Surgeones Columbia University Medical Center New York NY United States Division of Data Analytics and Delivery for Impact WHO Geneva Switzerland Advanced Diagnostic and Interventional Radiology Research Centre Tehran University of Medical Sciences Tehran Iran Multiple Sclerosis Research Centre Tehran University of Medical Sciences Tehran Iran School of Public Health Tehran University of Medical Sciences Tehran Iran Department of Epidemiology and Biostatistics Tehran University of Medical Sciences Tehran Iran Paediatric Chronic Kidney Disease Research Centre Tehran University of Medical Sciences Tehran Iran Department of Psychiatry Tehran University of Medical Sciences Tehran Iran Metabolomics and Genomics Research Centre Tehran University of Medical Sciences Tehran Iran Sina Trauma and Surgery Research Centre Tehran University of Medical Sciences Tehran Iran Research Centre for Immunodeficiencies Tehran University of Medical Sciences Tehran Iran Non-Communicable Diseases Research Centre Tehran University of Medical Sciences Tehran Iran Department of Botany Sree Narayana Guru College Chelannur Kozhikode India Clinical Sciences Department University of Sharjah Sharjah United Arab Emirates Mass Communication Department University of Sharjah Sharjah United Arab Emirates Department of Health-Care Policy and Research Weill Cornell Medical College in Qatar Doha Qatar Department of Population Medicine Ca

Background: The sustainable development goals (SDGs) aim to end HIV/AIDS as a public health threat by 2030. Understanding the current state of the HIV epidemic and its change over time is essential to this effort. This study assesses the current sex-specific HIV burden in 204 countries and territories and measures progress in the control of the epidemic. Methods: To estimate age-specific and sex-specific trends in 48 of 204 countries, we extended the Estimation and Projection Package Age-Sex Model to also implement the spectrum paediatric model. We used this model in cases where age and sex specific HIV-seroprevalence surveys and antenatal care-clinic sentinel surveillance data were available. For the remaining 156 of 204 locations, we developed a cohort-incidence bias adjustment to derive incidence as a function of cause-of-death data from vital registration systems. The incidence was input to a custom Spectrum model. To assess progress, we measured the percentage change in incident cases and deaths between 2010 and 2019 (threshold >75% decline), the ratio of incident cases to number of people living with HIV (incidence-to-prevalence ratio threshold <0·03), and the ratio of incident cases to deaths (incidence-to-mortality ratio threshold <1·0). Findings: In 2019, there were 36·8 million (95% uncertainty interval [UI] 35·1–38·9) people living with HIV worldwide. There were 0·84 males (95% UI 0·78–0·91) per female living with HIV in 2019, 0·99 male infections (0·91–1·10) for every female infection, and 1·02 male deaths (0·95–1·10) per female death. Global progress in incident cases and deaths between 2010 and 2019 was driven by sub-Saharan Africa (with a 28·52% decrease in incident cases, 95% UI 19·58–35·43, and a 39·66% decrease in deaths, 36·49–42·36). Elsewhere, the incidence remained stable or increased, whereas deaths generally decreased. In 2019, the global incidence-to-prevalence ratio was 0·05 (95% UI 0·05–0·06) and the global incidence-to-mortality ratio was

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Formation control for Nonlinear Multi-agent Systems with Linear Extended State Observer

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IEEE/CAA Journal of Automatica Sinica 2014年第2期1卷 171-179页

作者： Wen Qin Zhongxin Liu Zengqiang Chen College of Computer and Control Engineering Nankai University Tianjin Key Laboratory of Intelligent Robotics Nankai University College of Science Civil Aviation University of China

This paper investigates the formation control problem for nonlinear multi-agent systems with a virtual leader. A distributed formation control strategy based on linear extended state observer(LESO) is proposed under the hypothesis that velocity of the agent s neighbors could not be measured. Some sufficient conditions are established to ensure that the nonlinear multi-agent systems form a predefined formation with switching topology when the nonlinear function is known. Moreover, the tracking errors are bounded with external disturbance. Lastly,a numerical example with different scenarios is presented to demonstrate the validity of the obtained results.

关键词： Observers Multi-agent systems Uncertainty Switches Topology

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[email protected] : Analysis and results of evolving competitions for domestic and service robots

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Artificial Intelligence 2015年 229卷 258-281页

作者： Luca Iocchi Dirk Holz Javier Ruiz-del-Solar Komei Sugiura Tijn van der Zant Department of Computer Control and Management Engineering Sapienza University of Rome Italy Autonomous Intelligent Systems Group University of Bonn Germany Department of Electrical Engineering & Advanced Mining Technology Center Universidad de Chile Chile Information Services Platform Laboratory National Institute of Information and Communications Technology Japan Cognitive Robotics Laboratory University of Groningen The Netherlands

Scientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences. One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions. In this article, we present the [email protected] competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that [email protected] robots can solve but also the increased performance for all of the functionalities addressed in the competition. We believe that the methodology used in [email protected] for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and robotics.

关键词： Robotic competitions Artificial intelligence and robotics Benchmarking

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Modelling Combined Automata via Semi-tensor Product of Matrices 33

Modelling Combined Automata via Semi-tensor Product of Matri...

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第三十三届中国控制会议

作者： YAN Yongyi CHEN Zengqiang LIU Zhongxin Tianjin Key Laboratory of Intelligent Robotics College of Computer and Control Engineering Nankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781479947249

Using semi-tensor product of matrices(STP), a new matrix analysis tool, this paper investigates the problem of modelling combined automata, which are constructed in three ways: parallel, serial and feedback. By representing the states, input and output symbols in vector forms, the transition and output functions are expressed as algebraic equations of the states and inputs, in which the matrix product is STP. Based on such algebraic descriptions, three new models are established for three types of combined automata with the help of STP. Illustrative examples verify the correctness of the new models.

关键词： Automata,Composition of automata,Matrix approach,Semi-tensor product of matrices

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Robust H∞ formation control for multi-agent systems with nonlinear dynamics and time-varying delay 33

Robust H∞ formation control for multi-agent systems with no...

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第三十三届中国控制会议

作者： LI Weixun CHEN Zengqiang LIU Zhongxin ZHANG Qing Tianjin Key Laboratory of Intelligent Robotics College of Computer & Control EngineeringNankai University College of Science Civil Aviation University of China

ISBN: (纸本)9781479947249

In this paper,the distributed robust H formation control problem for second-order multi-agent systems with time-varying delay and nonlinear dynamics is *** different cases of coupling topologies:fixed topology and switching topology are *** the multi-agent systems with disturbances and uncertainty parameters,the formation control protocols are designed and *** sufficient conditions are given to ensure the multi-agent systems can reach and maintain the desired formation with the given H *** simulation results illustrate the effectiveness of the main results.

关键词： Multi-agent systems,nonlinear dynamics,robust formation control,time-varying delay

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Radiative Cooling of the Thermally Isolated System in KAGRA Gravitational Wave Telescope

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Journal of Physics: Conference Series 2021年第1期1857卷

作者： T. Akutsu M. Ando K. Arai Y. Arai S. Araki A. Araya N. Aritomi Y. Aso S.-W. Bae Y.-B. Bae L. Baiotti R. Bajpai M. A. Barton K. Cannon E. Capocasa M.-L. Chan C.-S. Chen K.-H. Chen Y.-R. Chen H.-Y. Chu Y.-K. Chu S. Eguchi Y. Enomoto R. Flaminio Y. Fujii M. Fukunaga M. Fukushima G.-G. Ge A. Hagiwara S. Haino K. Hasegawa H. Hayakawa K. Hayama Y. Himemoto Y. Hiranuma N. Hirata E. Hirose Z. Hong B.-H. Hsieh G.-Z. Huang P.-W. Huang Y.-J. Huang B. Ikenoue S. Imam K. Inayoshi Y. Inoue K. Ioka Y. Itoh K. Izumi K. Jung P. Jung T. Kajita M. Kamiizumi N. Kanda G.-W. Kang K. Kawaguchi N. Kawai T. Kawasaki C. Kim J. Kim W. Kim Y.-M. Kim N. Kimura N. Kita H. Kitazawa Y. Kojima K. Kokeyama K. Komori A. K. H. Kong K. Kotake C. Kozakai R. Kozu R. Kumar J. Kume C.-M. Kuo H.-S. Kuo S. Kuroyanagi K. Kusayanagi K. Kwak H.-K. Lee H.-W. Lee R.-K. Lee M. Leonardi C.-Y. Lin F.-L. Lin L. C.-C. Lin G.-C. Liu L.-W. Luo M. Marchio Y. Michimura N. Mio O. Miyakawa A. Miyamoto Y. Miyazaki K. Miyo S. Miyoki S. Morisaki Y. Moriwaki K. Nagano S. Nagano K. Nakamura H. Nakano M. Nakano R. Nakashima T. Narikawa R. Negishi W.-T. Ni A. Nishizawa Y. Obuchi W. Ogaki J. J. Oh S.-H. Oh M. Ohashi N. Ohishi M. Ohkawa K. Okutomi K. Oohara C.-P. Ooi S. Oshino K.-C. Pan H.-F. Pang J. Park F. E. Peiia Arellano I. Pinto N. Sago S. Saito Y. Saito K. Sakai Y. Sakai Y. Sakuno S. Sato T. Sato T. Sawada T. Sekiguchi Y. Sekiguchi S. Shibagaki R. Shimizu T. Shimoda K. Shimode H. Shinkai T. Shishido A. Shoda K. Somiya E. J. Son H. Sotani R. Sugimoto T. Suzuki H. Tagoshi H. Takahashi R. Takahashi A. Takamori S. Takano H. Takeda M. Takeda H. Tanaka K. Tanaka T. Tanaka S. Tanioka E. N. Tapia San Martin S. Telada T. Tomaru Y. Tomigami T. Tomura F. Travasso L. Trozzo T. T. L. Tsang K. Tsubono S. Tsuchida T. Tsuzuki D. Tuyenbayev N. Uchikata T. Uchiyama A. Ueda T. Uehara K. Ueno G. Ueshima F. Uraguchi T. Ushiba M. H. P. M. van Putten H. Vocca J. Wang C.-M. Wu H.-C. Wu S.-R. Wu W.-R. Xu T. Yamada K. Yamamoto T. Yamamoto K. Yokogawa J. Yokoyama T. Yokozawa T. Yoshioka H. Yuzurihar National Astronomical Observatory of Japan (NAOJ) 2-21-1 Osawa Mitaka-City Tokyo 181-8588 Japan Research Center for the Early Universe (RESCEU) The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Department of Physics The University of Tokyo 7-3-1 Hongo Bunkyo-ku Tokyo 113-0033 Japan Institute for Cosmic Ray Research (ICRR) The University of Tokyo 5-1-5 Kashiwa-no-Ha Kashiwa-City Chiba 277-8582Japan Accelerator Laboratory High Energy Accelerator Research Organization (KEK) 1-1 OhoTsukuba-City Ibaraki 305-0801 Japan Earthquake Research Institute The University of Tokyo 1-1-1Yayoi Bunkyo-ku Tokyo 113-0032Japan Kamioka Branch National Astronomical Observatory of Japan (NAOJ) 238 Higashi-Mozumi Kamioka-cho Hida-City Gifu Pref. Japan The Graduate University for Advanced Studies (SOKENDAI) 2-21-1 Osawa Mitaka-City Tokyo 181-8588 Japan Korea Institute of Science and Technology Information (KISTI) 245 Daehak-ro Yuseong-gu Daejeon 34141 South Korea National Institute for Mathematical Sciences 70 Yuseong-daero 1689 beon-gil Yuseong-gu Daejeon 34047 South Korea Graduate School of Science Osaka University 1-1 Machikaneyama-cho Toyonaka-City Osaka560-0043 Japan School of High Energy Accelerator Science The Graduate University for Advanced Studies (SOKENDAI) 1-1 Oho Tsukuba-City Ibaraki 305-0801 Japan Institute for Gravitational Research University of Glasgow Kelvin Building G12 8QQ UK Department of Applied Physics Fukuoka University Fukuoka Jonan Nanakuma 814-0180 Japan Department of Physics Tamkang university No.151 Yingzhuan Rd. Danshui Dist. New Taipei-City 25137 Taiwan Department of Physics the Center for High Energy and High Field Physics National Central University No. 300 Zhongda Road Zhongyi District Taiyuan-City 320 Taiwan Institute of Astronomy National Tsing Hua University No. 101 Section 2 Kuang-Fu Road Hsinchu 30013 Taiwan Department of Physics National Tsing Hua University No. 101 Section 2

Radiative cooling of the thermally isolated system is investigated in KAGRA gravitational wave telescope. KAGRA is a laser interferometer-based detector and main mirrors constituting optical cavities are cool down to 20K to reduce noises caused by the thermal fluctuation. The mirror is suspended with the multi-stage pendulum to isolate any vibration. Therefore, this mirror suspension system has few heat links to reduce vibration injection. Thus, this system is mainly cooled down with thermal radiation. In order to understand the process of radiative cooling of the mirror, we analyzed cooling curve based on mass and specific heat. As a result, it was newly found that a cryogenic part called 'cryogenic duct-shield' seems to have large contribution in the beginning of the mirror cooling. This finding will help to design new cooling system for the next generation cryogenic gravitational wave detector.

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Aerodynamic analysis and performance of a mini airplane UAV

Aerodynamic analysis and performance of a mini airplane UAV

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： F. Guerrero V. Martinez O. Garcia A. Sanchez E. S. Espinoza CIIIA-FIME-UANL Aerospace Engineering Research and Innovation Center Monterrey Nuevo Leon Mexico CINVESTAV Laboratory of Non-inertial Robots and Man-machine Interfaces Monterrey Nuevo Leon Mexico Robotics and Advanced Manufacturing Division CINVESTAV Saltillo Coahuila Mexico LAFMIA-UMI CNRS 3175 French-Mexican Laboratory on Computer Science and Control Mexico D.F. Mexico

ISBN: (纸本)9781479960118

This paper focuses on the aerodynamic design and performance of a mini airplane UAV. The mini aerial vehicle is based on a conceptual design considering a high aerodynamic finesse (a high ratio between lift and drag), flying and handling qualities in order to perform a reliable and stable flight. The equations of motion are described using the Newton-Euler formulation and the stability derivatives are obtained from the aerodynamic design of the aerial vehicle. A static analysis is presented in order to study the mini airplane in trim condition. Simulations illustrate the performance for the closed-loop system of the aerial vehicle. The platform and its avionics are developed using low-cost, easy operation, sensors and components.

关键词： Aerodynamics Airplanes Vehicles Mathematical model Stability analysis Vehicle dynamics

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26th Annual Computational Neuroscience Meeting (CNS*2017): Part 3 Antwerp, Belgium. 15-20 July 2017 Abstracts

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BMC NEUROSCIENCE 2017年第SUPPL 1期18卷 95-176页

作者： [Anonymous] Department of Neuroscience Yale University New Haven CT 06520 USA Department Physiology & Pharmacology SUNY Downstate Brooklyn NY 11203 USA NYU School of Engineering 6 MetroTech Center Brooklyn NY 11201 USA Departament de Matemàtica Aplicada Universitat Politècnica de Catalunya Barcelona 08028 Spain Institut de Neurobiologie de la Méditerrannée (INMED) INSERM UMR901 Aix-Marseille Univ Marseille France Center of Neural Science New York University New York NY USA Aix-Marseille Univ INSERM INS Inst Neurosci Syst Marseille France Laboratoire de Physique Théorique et Modélisation CNRS UMR 8089 Université de Cergy-Pontoise 95300 Cergy-Pontoise Cedex France Department of Mathematics and Computer Science ENSAT Abdelmalek Essaadi’s University Tangier Morocco Laboratory of Natural Computation Department of Information and Electrical Engineering and Applied Mathematics University of Salerno 84084 Fisciano SA Italy Department of Medicine University of Salerno 84083 Lancusi SA Italy Dipartimento di Fisica Università degli Studi Aldo Moro Bari and INFN Sezione Di Bari Italy Data Analysis Department Ghent University Ghent Belgium Coma Science Group University of Liège Liège Belgium Cruces Hospital and Ikerbasque Research Center Bilbao Spain BIOtech Department of Industrial Engineering University of Trento and IRCS-PAT FBK 38010 Trento Italy Department of Data Analysis Ghent University Ghent 9000 Belgium The Wellcome Trust Centre for Neuroimaging University College London London WC1N 3BG UK Department of Electronic Engineering NED University of Engineering and Technology Karachi Pakistan Blue Brain Project École Polytechnique Fédérale de Lausanne Lausanne Switzerland Departement of Mathematics Swansea University Swansea Wales UK Laboratory for Topology and Neuroscience at the Brain Mind Institute École polytechnique fédérale de Lausanne Lausanne Switzerland Institute of Mathematics University of Aberdeen Aberdeen Scotland UK Department of Integrativ

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