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Dissipation Obstacle hampers control—by—Interconnection Methodology

IFAC-PapersOnLine 2015年第13期48卷 123-128页

作者： Meng Zhang Romeo Ortega Dimitri Jeltsema Hongye Su State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University 310027 Hangzhou P.R.China. Laboratoire des Signaux et Systèmes L2S CNRS UMR 8506 Supélec Univ Paris Sud-P11 91192 Gif sur Yvette France Delft Institute of Applied Mathematics Delft University of Technology Mekelweg 4 2628 CD Delft The Netherlands

It is well—known that the presence of dissipation hampers our ability to shape the energy of port—Hamiltonian systems using *** methods—a phenomenon called the dissipation obstacle. In particular, the Casimir functions that are used to shift the energy function cannot depend on the coordinates where dissipation is present if we use, as is usually the case, passive controllers. Recently, it was proposed to relax the latter condition, namely, to use controllers that inject energy into the system to be able to create the required Casimir functions. In this note we prove that, alas, even if the Casimirs can be created with active controllers the dissipation obstacle stymies the possibility to assign an energy function with the minimum at an equilibrium point. As a corollary we prove that the subtle, deleterious effect of pervasive dissipation does not only stem from the inability of the controller to inject the (infinite) energy required for stabilization—as it was conjectured in earlier publications

关键词： Dissipation obstacle control—by—Interconnection Casimir functions passivity-based control

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Implementation of Active Training for an Upper-limb Rehabilitation Robot Based on Impedance control

Implementation of Active Training for an Upper-limb Rehabili...

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第27届中国控制与决策会议

作者： Liang Peng Zeng-Guang Hou Nikola Kasabov Long Peng Jin Hu Weiqun Wang The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Knowledge Engineering and Discovery Research Institute Auckland University of Technology

Many rehabilitation robots have been designed to alleviate the conflict between increasing number of poststroke patients and shortage of *** training is the main feature of advanced rehabilitation robots,which has been proved to be more effective than simple passive movement *** paper presents the implementation of active training on a 2-DOF upper-limb rehabilitation robot,which can assist the shoulder and elbow joint rehabilitation training of post-stroke *** controller is built based on impedance control,which can provide a compliant human-robot *** implementation of active training is combined with a virtual reality game,and the average error between the actual and target reaction force is 1.41 ± 0.79 N in the X axis,and 1.22 ± 0.91 N in the Y axis.

关键词： Active Training Rehabilitation Robot Force Feedback Impedance control

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RETRACTED: Dual-mode predictive flexible rotor control for active magnetic bearings with input constraints

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Journal of Vibration and control 2016年第20期23卷 NP2页

作者： Yue Wu Jie Zhao Hai-Tao Zhang Ming-Can Fan Xi Yu Guangdong HUST Industrial Technology Research Institute Guangdong Province Key Lab of Digital Manufacturing Equipment ChinaKey Laboratory of Image Processing and Intelligent Control School of Automation State Key Laboratory of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology China Key Laboratory of Image Processing and Intelligent Control School of Automation State Key Laboratory of Digital Manufacturing Equipments and Technology Huazhong University of Science and Technology China Department of Mathematics Huizhou University China School of Electrical and Information Engineering Xi'an Technology University China

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Tumor Cell Detection Device Based on Surface Plasmon Resonance Imaging and Image Processing

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Chemical Research in Chinese Universities 2014年第2期30卷 211-215页

作者： YANG Mengchao JIN Xinyu YUAN Maokai LIU Fan LANG Yicong WU Zhongyu XIANG Liancheng ZHOU Chao OUYANG Bo JIN Wei MU Ying Research Center for Analytical Instrumentation Institute of Cyber-systems and Control State Key Laboratory of Industrial Control Technology Zhejiang University Hangzhou 310058 P.R.China Department of Information Science & Electronic Engineering Zhejiang UniversityHangzhou 310027 P.R.China

A laboratory-made tumor cell detection device was fabricated based on both surface plasmon resonance imaging（SPRi） and image *** this device,a gravity-induced flow injection chip（gFIC） was exploited to replace a *** two charge coupled devices（CCDs） were used to detect HepG2 cells by SPRi and image processing,*** results of two CCDs are *** A was used to modify the sensing *** inlet angle was carefully adjusted for the device to get an enhanced *** the test,the contrast among cell solutions at different concentrations can be easily *** other CCD using image processing can tell false-positive in some *** detection is label-free,real time,and precise.

关键词： Surface plasmon resonance Image processing Tumor detection Gravity induced

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Content-based Recommendation for Traffic Signal control

Content-based Recommendation for Traffic Signal Control

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International IEEE Conference on Intelligent Transportation systems

作者： Y. F. Zhao F. Y. Wang H. Gao F. H. Zhu Y. S. Lv P. J. Ye The State Key Laboratory of Management and Control for Complex Systems CASIA Beijing 100190 China Southwest China Institute of Electronic Technology Chengdu 610036 China

ISBN: (纸本)9781467365970

Traffic signal control is an effective way of solving urban traffic problems by providing appropriate signal control plans for various intersections. Essentially, the aim of Traffic Signal control is to find the best matching timing plans to current traffie conditions. Inspired by recommendation technology, we regard traffic conditions as users, timing plans as items, and traffic indicators like delay time are regarded as the ratings that users give to items. By means of Content-based Recommendation technology and k-Nearest Neighbor method in Recommendation systems, we first find the similar traffic conditions according to the characteristics of traffic conditions. Then the matching degree between current traffic conditions and various timing plans can be predicted by analyzing the history data of selected similar traffic conditions. What's more, Artificial Transportation systems method was applied to recommend and sort the timing plans for various traffic conditions in this paper. With normalized Discounted Cumulative Gain, which is a measure of ranking quality, was chosen as the performance indicator, we conducted the experiments in Paramics. The results showed that the strategies based on our method outperform the classic Webster method.

关键词： Artificial Transportation systems and simulation Contented-based Recommendation data mining and data analysis Traffic Signal control Progressive traffic signal control Area traffic signal control Automatic traffic signal control Traffic Traffic signals Recommender systems performance indicators

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On Finite-Horizon Optimal control of First-Order Plus Time Delay systems

On Finite-Horizon Optimal Control of First-Order Plus Time D...

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第27届中国控制与决策会议

作者： Dawei Shi Tongwen Chen State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology Department of Electrical and Computer Engineering University of Alberta

In this work,a finite-horizon optimal control problem for first-order plus time delay(FOPTD) processes is *** show that if the control horizon is greater than three and the prediction horizon is great than the control horizon plus the time delay in discrete time,the optimal controller is not affected by either of the two ***,under these conditions,the controller parameters are explicitly calculated,the closed-loop system is shown to be stable,and the controller is *** problem considered is related to the results on linear quadratic regulation of linear systems with time delays;however,the detailed parameterization of the state-space model introduced by the FOPTD process provides an additional opportunity to investigate the exact controller structure and properties(e.g.,the locations of the closed-loop poles),which are also the major difficulties encountered and overcome in this *** problem is motivated from phenomena experienced in designing industrial model predictive control(MPC) tuning algorithms,and extensive numerical examples indicate that the proposed results speed up the MPC autotuning algorithms by 70%.

关键词： Optimal control First-order plus time delay process Performance visualization MPC tuning

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Gravitational wave astronomy: the current status

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Science China(Physics,Mechanics & Astronomy) 2015年第12期58卷 3-43页

作者： BLAIR David JU Li ZHAO ChunNong WEN LinQing CHU Qi FANG Qi CAI RongGen GAO JiangRui LIN XueChun LIU Dong WU Ling-An ZHU ZongHong REITZE David H. ARAI Koji ZHANG Fan FLAMINIO Raffaele ZHU XingJiang HOBBS George MANCHESTER Richard N. SHANNON Ryan M. BACCIGALUPI Carlo GAO Wei XU Peng BIAN Xing CAO ZhouJian CHANG ZiJing DONG Peng GONG XueFei HUANG ShuangLin JU Peng LUO ZiRen QIANG Li'E TANG WenLin WAN XiaoYun WANG Yue XU ShengNian ZANG YunLong ZHANG HaiPeng LAU Yun-Kau NI Wei-Tou School of Physics The University of Western Australia State Key Laboratory of Theoretical Physics Institute of Theoretical Physics Chinese Academy of Sciences The School of Physics & Electronic Engineering Shanxi University Laboratory of All-Solid-State Light Sources Institute of Semiconductors Chinese Academy of Science State Key Laboratroy of Modern Optical Instrumentation Department of Optical Engineering Zhejiang University Laboratory of Optical Physics Institute of Physics Chinese Academy of Sciences Gravitational Wave and Cosmology Laboratory Department of Astronomy Beijing Normal University LIGO Laboratory California Institute of Technology Department of Physics University of Florida Department of Physics West Virginia University National Astronomical Observatory of Japan CSIRO Astronomy and Space Science International Centre for Radio Astronomy Research Curtin University SISSA Astrophysics Sector Institute of Applied Mathematics Academy of Mathematics and Systems Science Chinese Academy of Sciences University of Chinese Academy of Sciences Morningside Center of Mathematics Chinese Academy of Sciences State Key Laboratory of Scientific and Engineering Computing Academy of Mathematics and Systems ScienceChinese Academy of Sciences Department of Mathematics Henan University Department of Mathematics Capital Normal University Department of Geophysics College of the Geology Engineering and Geomatics Chang'an University QUEST Centre of Quantum Engineering and Space-Time Research Leibniz Universitt Hannover Max-Planck-Institut für Gravitationsphysik(Albert Einstein Institut) Aerospace Flight Dynamics Laboratory Beijing Aerospace Control Center Qian Xuesen Laboratory of Launch Vehicle Technology Center for Gravitation and Cosmology Department of Physics Tsing Hua University

In the centenary year of Einstein's General Theory of Relativity, this paper reviews the current status of gravitational wave astronomy across a spectrum which stretches from attohertz to kilohertz frequencies. Sect. 1 of this paper reviews the historical development of gravitational wave astronomy from Einstein's first prediction to our current understanding the spectrum. It is shown that detection of signals in the audio frequency spectrum can be expected very soon, and that a north-south pair of next generation detectors would provide large scientific benefits. Sect. 2 reviews the theory of gravitational waves and the principles of detection using laser interferometry. The state of the art Advanced LIGO detectors are then described. These detectors have a high chance of detecting the first events in the near future. Sect. 3 reviews the KAGRA detector currently under development in Japan,which will be the first laser interferometer detector to use cryogenic test masses. Sect. 4 of this paper reviews gravitational wave detection in the nanohertz frequency band using the technique of pulsar timing. Sect. 5 reviews the status of gravitational wave detection in the attohertz frequency band, detectable in the polarisation of the cosmic microwave background, and discusses the prospects for detection of primordial waves from the big bang. The techniques described in sects. 1–5 have already placed significant limits on the strength of gravitational wave sources. Sects. 6 and 7 review ambitious plans for future space based gravitational wave detectors in the millihertz frequency band. Sect. 6 presents a roadmap for development of space based gravitational wave detectors by China while sect. 7 discusses a key enabling technology for space interferometry known as time delay interferometry.

关键词： gravitational waves ground based detectors pulsar timing spaced based detectors CMB

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An improved APSO-SQP with adaptive transition strategy for dynamic optimization 19

An improved APSO-SQP with adaptive transition strategy for d...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Dong, Fang Zhang, Jianming Xie, Lei Zhao, Huining He, Xiongxiong State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control ZheJiang University Hangzhou310027 China College of Information Engineering Zhejiang University of Technology Hangzhou310032 China

ISBN: (纸本)9783902823625

This paper employs a logistical regression classifier for combining particle swarm optimizer and local optimizer to solve dynamic optimization problems. It achieves the ability of automatic transition from global optimizer to local optimizer according to the state of solutions. The particle swarm optimizer is used to globally search for a good approximation of the solution and then SQP is applied as the local optimizer for quickly converging to the optima. Experimental results on two complex chemical processes demonstrate that the proposed method can get comparable and even better results than the existed methods in precision and especially in function evaluations. © IFAC.

关键词： Particle swarm optimization (PSO)

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A New Algorithm for Non-rigid Point Matching Using Geodesic Graph Model

A New Algorithm for Non-rigid Point Matching Using Geodesic ...

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IEEE International Conference on Mechatronics and Automation

作者： Deheng Qian Tianshi Chen Hong Qiao State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China State Key Laboratory of Computer Architecture Institute of Computing Technology Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781479970995

Point matching is a problem of finding the optimum matching between two sets of key points which are extracted from the surfaces of objects. A popular approach represents the features of a set of points with a graph model. Traditionally, the measurement applied in the graph model is the Euclidian distance, which is not suitable for objects with non-rigid deformations. In this paper, we propose a novel graph model called the geodesic graph model (GGM) which uses a geodesic-like distance as its measurement. GGM can better tackle non-rigid deformations because the geodesic-like distance is a kind of invariant structural feature during non-rigid deformations. The building process of the GGM is justified under the assumption that all the key points are spanning on a manifold. To further handle the deviations of key point locations, we come up with a feature weighting process to increase our algorithm's robustness. We conduct several experiments on different kinds of deformations over several widely used datasets. Experimental results demonstrate the effectiveness of our algorithm.

关键词： Point matching non-rigid deformation manifold geodesic distance

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Nearly Optimal Tracking control for Continuous Time Nonlinear systems Using a Policy Iteration Based HJB Approach

Nearly Optimal Tracking Control for Continuous Time Nonlinea...

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第三十四届中国控制会议

作者： Ruizhuo Song Qinglai Wei Wendong Xiao Zanzan Du School of Automation and Electrical Engineering University of Science and Technology Beijing The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

ISBN: (纸本)9781467374439

A policy iteration method is proposed to solve the optimal tracking control of continuous-time systems based on HJB equation. The performance index function is composed by the state tracking error and the tracking control error. The iterative performance index function and the iterative control are obtained by the presented policy iteration. It is proven that the iterative control makes the system asymptotic stability, and the iterative performance index function is convergent. Simulation study demonstrates that the effectiveness of the proposed optimal tracking control method.

关键词： Adaptive dynamic programming,Approximate dynamic programming,Optimal tracking control,Policy Iteration

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