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LQG control for sampled-data systems under stochastic sampling

Journal of the Franklin Institute 2020年第5期357卷 2773-2790页

作者： Haoyuan Sun Jian Sun Jie Chen Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing 100081 PR China College of Electronic and Information Tongji University Shanghai China

This paper studies the linear-quadratic-Gaussian (LQG) problem for sampled-data systems with a stochastic sampling interval obeying a certain probability distribution. An optimal estimator of the system state is presented by the standard Kalman filter , and the Vandermonde matrix and Kronecker product operation are used to calculate the mathematical expectation caused by stochastic sampling in the process of designing the LQG controller. Moreover, it was proved that the controller can ensure the system is exponentially mean square stable. Finally, some simulation results are given to verify the effectiveness and practicability of the proposed controller design method.

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Biocompatible chitosan/polyethylene glycol/multi-walled carbon nanotube composite scaffolds for neural tissue engineering

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Journal of Zhejiang University-science B(Biomedicine & Biotechnology) 2022年第1期23卷 58-73页

作者： Shengbo SANG Rong CHENG Yanyan CAO Yayun YAN Zhizhong SHEN Yajing ZHAO Yanqing HAN Shanxi Key Laboratory of Micro Nano Sensors&Artificial Intelligence Perception College of Information and ComputerTaiyuan University of TechnologyTaiyuan030024China Key Lab of Advanced Transducers and Intelligent Control System of the Ministry of Education Taiyuan University of TechnologyTaiyuan030024China College of Information Science and Engineering Hebei North UniversityZhangjiakou075000China Shanxi Six-Dimensional Artificial Intelligence Biomedical Research Institute Taiyuan030031China Department of Neurology Shanxi Provincial Cardiovascular HospitalTaiyuan030024China

Carbon nanotube(CNT)composite materials are very attractive for use in neural tissue engineering and biosensor *** scaffolds are excellent mimics of extracellular matrix due to their hydrophilicity,viscosity,and *** can also impart conductivity to other insulating materials improve mechanical stability guide neuronal cell behavior and trigger axon *** performance of chitosan(CS)/polyethylene glycol(PEG)composite scaffolds could be optimized by introducing multi-walled CNTs(MWCNTs).CS/PEG/CNT composite scaffolds with CNT content of 1%,3%,and 5%(1%=0.01 g/mL)were prepared by *** physical and chemical properties and biocompatibility were *** electron microscopy(SEM)showed that the composite scaffolds had a highly connected porous *** electron microscope(TEM)and Raman spectroscopy proved that the CNTs were well dispersed in the CS/PEG matrix and combined with the CS/PEG nanofiber *** enhanced the elastic modulus of the *** porosity of the scaffolds ranged from 83%to 96%.They reached a stable water swelling state within 24 h,and swelling decreased with increasing MWCNT *** electrical conductivity and cell adhesion rate of the scaffolds increased with increasing MWCNT *** showed that rat pheochromocytoma(PC12)cells grown in the scaffolds had characteristics similar to nerve *** measured changes in the expression of nerve cell markers by quantitative real-time polymerase chain reaction(qRT-PCR),and found that PC12 cells cultured in the scaffolds expressed growth-associated protein 43(GAP43),nerve growth factor receptor(NGFR),and class IIIβ-tubulin(TUBB3)*** research showed that the prepared CS/PEG/CNT scaffold has good biocompatibility and can be further applied to neural tissue engineering research.

关键词： Multi-walled carbon nanotube(MWCNT) Cell-scaffold PC12 cells Biocompatibility

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Limit-Cycle-Based Design of Formation control for Mobile Agents

Limit-Cycle-Based Design of Formation Control for Mobile Age...

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作者： Wang, Chen Xia, Weiguo Xie, Guangming National Engineering Research Center for Software Engineering Key Lab. of Intelligent Control and Optimization for Industrial Equipment of Ministry of Education School of Control Science and Engineering Dalian University of Technology Dalian116024 China State Key Laboratory of Turbulence and Complex Systems Intelligent Biomimetic Design Lab College of Engineering Peking University Beijing China

In this article, we study the formation problem for a group of mobile agents in a plane, in which the agents are required to maintain a distribution pattern, as well as to rotate around or remain static relative to a static/moving target. The prescribed distribution pattern is a class of general formations where the distances between neighboring agents or the distances between each agent and the target do not need to be equal. Each agent is modeled as a double integrator and can merely perceive the relative information of the target and its neighbors, and the acceleration of the target. In order to solve the formation problem, a limit-cycle-based controller design is delivered. We divide the overall control objective into two subobjectives, where the first is target circling that each agent keeps its own desired distance to the static/moving target as well as rotating around or remaining static relative to the target as expected, and the second is distribution adjustment that each agent maintains the desired distance to its neighbors. Then, we propose a controller comprised of two parts, where a limit cycle oscillator named a converging part is designed to deal with the first subobjective, while a layout part is introduced to address the second subobjective. One key merit of the controller is that it can be implemented by each agent in its local frame so that only local information is utilized without knowing global information. Theoretical analysis of the convergence to the desired formation, of which the agents are required to be evenly distributed on a circle around the target, is provided for the multiagent system under the proposed controller. Numerical simulations are given to validate the effectiveness of the proposed controller for the cases of general formations, and to show that no collision between agents ever takes place throughout the system's evolution. © 1963-2012 IEEE.

关键词： Multi agent systems

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Research on Infrared Image Processing Algorithm of Generator Carbon Brush Based on Adaptive Stochastic Resonance Array

Research on Infrared Image Processing Algorithm of Generator...

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2021 China Automation Congress, CAC 2021

作者： Jiao, Shangbin Huang, Weichao Geng, Bo Zhang, Youmin Wu, Xiaohui Wu, Pengyue Shaanxi Key Laboratory of Complex System Control and Intelligent Information Processing Xi 'an University of Technology Xi'an710048 China Department of Mechanical Industrial and Aerospace Engineering Concordia University MontrealQCH3G 1M8 Canada Huaneng Weihai Power Generation Co. Ltd Weihai264200 China Xi'an Thermal Power Research Institute Co. Ltd. Xi'an710048 China

ISBN: (纸本)9781665426473

The safe and stable operation of the generator set is related to the national economy and people's livelihood. As an important part of generator excitation system, carbon brush and slip ring temperature monitoring can effectively evaluate the state of the generator, which plays a vital role. Most of the current researches use infrared images to monitor carbon brush temperature, but there are often problems such as high noise and unclear focus. According to the requirements of infrared image display, this paper combines the method of bistable stochastic resonance to denoise the image, and on this basis, introduces the adaptive stochastic resonance array method to denoise the gray image. Experimental results show that compared with common image denoising methods and classic bistable stochastic resonance, the adaptive stochastic resonance array method has improved both visual effects and peak signal-to-noise ratio (PSNR), which further proves the good application of stochastic resonance in weak signal detection and extraction. © 2021 IEEE

关键词： Stochastic systems

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Design of control system for Lower Limb Rehabilitation Robot on the Healthy Side sEMG Signal

Design of Control System for Lower Limb Rehabilitation Robot...

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IEEE International Conference on Mechatronics and Automation

作者： Shiqin Yu Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

With the number of stroke patients increasing year by year, rehabilitation exoskeleton robot has been paid more and more attention. For the rehabilitation exoskeleton robot, human-computer interaction ability is an important index, which affects the effect of rehabilitation therapy to a great extent. Surface Electromyography (sEMG) signals are the combined effect of sEMG signals and electrical activities on nerve stem on the skin surface, which can reflect neuromuscular activities in advance and can be used to predict movement intention by sEMG signals. Therefore, this article proposes to use sEMG signals to monitor the motion information of the healthy leg in real-time, extract the characteristics of the electromyography signals, use the sEMG of the healthy leg as the control signal, reflect the motion patterns reflected by the sEMG collected from the healthy side, and then use the motion intention recognition method of Long Short Term Memory(LSTM) neural network to identify the motion intention of the prosthetic limb by identifying the motion patterns of the swing phase of the healthy side. The results indicate that the predicted maximum Root Mean Squared Error(RMSE) is 5.3729, which proves the feasibility of using LSTM model for motion intention recognition and contributes to the real-time and accuracy of lower limb exoskeleton rehabilitation.

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Study on Autonomous Surgical control system of The Vascular Interventional Surgical Robot Based on Catheter Tip Location Tracking

Study on Autonomous Surgical Control System of The Vascular ...

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IEEE International Conference on Mechatronics and Automation

作者： Zhimin Feng Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

The control system of vascular interventional surgical robot is a complex nonlinear system. When the catheter is inserted into human blood vessels, due to the irregular and curved shape of human blood vessels, the catheter will undergo small deformation, which will affect the displacement of the catheter. In order to reduce the displacement tracking error, a BP neural network PID controller was designed to compensate the displacement error of the autonomous vascular interventional surgical robot. Firstly, the dynamic analysis is carried out according to the axial displacement motion of the vascular interventional surgical robot, and the catheter displacement tracking controller was designed. According to the displacement error, BP neural network PID control is used to output three parameters of PID. Finally, in the experiment and PID control simulation comparison, the results show that the BP neural network PID control has a small displacement tracking error and superior tracking performance, which can meet the requirements.

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Active Vibration Isolation for A Parallel Wheel-legged Robot Based on Dynamic Model

Research Square

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Research Square 2020年

作者： Guo, Fei Wang, Shoukun Yue, Binkai Wang, Junzheng State Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology Beijing100081 China

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Study on 6D Pose Estimation system of Occlusion Targets for the Spherical Amphibious Robot based on Neural Network

Study on 6D Pose Estimation System of Occlusion Targets for ...

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IEEE International Conference on Mechatronics and Automation

作者： Chaofeng Du Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications in Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology BinshuiXidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5 Zhongguancun South Street Beijing China

The amphibious robot needs to accurately estimate the 6D pose of the target in tasks such as target tracking, docking with the recovery module, and target grasping. The current research on target 6D pose estimation is mainly applied to unoccluded targets, but when the target is occluded, the target’s pose cannot be accurately identified. Compared with other algorithms, the PVNet algorithm shows better robustness when target is occluded, but the accuracy is still low. To improve the accuracy of the PVNet algorithm, this paper adds the confidence score prediction of the prediction vector at the last layer of the PVNet network, and designs a vector confidence score loss function to train the network. Before generating the hypothetical keypoints, the pixels whose confidence score is lower than the set threshold are screened out, so that the generated hypothetical 2D keypoints are closer to the true 2D keypoints. Finally, the method in this paper is compared with the Tekin, PoseCNN, Oberweger and Pvnet algorithm, and demonstrate the superiority of the proposed method.

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A DDPG-Based Method of Autonomous Catheter Navigation in Virtual Environment

A DDPG-Based Method of Autonomous Catheter Navigation in Vir...

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IEEE International Conference on Mechatronics and Automation

作者： Wei Tian Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

Vascular interventional surgery is the main method for treating cardiovascular diseases. But navigating endovascular catheters through the vascular tree is a highly challenging task even for highly trained specialists. Automation of this task can reduce the burden on surgeons and is expected to improve the surgical outcomes. Although there have been relevant studies utilizing reinforcement learning algorithms to realize autonomous navigation of catheter in the virtual environment Cathsim. However, the kinematics model of the catheter in Cathsim does not conform to the operating mode of the catheter in real vascular interventional surgery. Besides, there are problems such as low success rates of catheter autonomous navigation tasks. To address these issues, this paper modifies the kinematics model of the catheter in Cathsim and designs a catheter autonomous navigation model based on reinforcement learning DDPG (Deep Deterministic Policy Gradient) algorithm. The experimental results show that the agents trained through DDPG in this paper performs better than the agents trained through PPO (Proximal Policy optimization) in other studies in terms of navigation task success rate, completion time, and contact force between the catheter and vascular wall during the navigation process.

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Study on control Strategy of the Vascular Interventional Surgical Robot Based on LADRC

Study on Control Strategy of the Vascular Interventional Sur...

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IEEE International Conference on Mechatronics and Automation

作者： Wenqiang Zhang Jian Guo Shuxiang Guo Qiang Fu Tianjin Key Laboratory for Control Theory & Applications In Complicated Systems and Intelligent Robot Laboratory Tianjin University of Technology Binshui Xidao Extension 391 Tianjin China Shenzhen Institute of Advanced Biomedical Robot Co. Ltd. No.12 Ganli Sixth Road Jihua Street Longgang District Shenzhen China Key Laboratory of Convergence Medical Engineering System and Healthcare Technology The Ministry of Industry and Information Technology School of Life Science Beijing Institute of Technology No.5Zhongguancun South Street Beijing China

As a medical device used in surgery, the vascular interventional surgical robot itself needs to have good control accuracy to ensure the safety of the surgery process. Given this security problem, this paper selects the Line Active Disturbance Rejection control (LADRC) as the control strategy of the vascular interventional robot, aiming at improving the master-slave tracking accuracy of the vascular interventional robot. This article compares the LADRC and PID(Proportional-Integral-Derivative) control strategies through simulation and experiments. The experimental results show that LADRC has good control performance for master-slave tracking and can be applied to the vascular interventional surgical robots.

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