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6th International Conference on Complex Medical Engineering, CME 2012

作者： Chen, Chao Duan, Xing-Guang Wang, Xing-Tao Zhu, Xiang-Yu Li, Meng Intelligent Robotics Institute Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System School of Mechatronical Engineering Beijing Institute of Technology #5Zhongguancun South Street Haidian Beijing China China

ISBN: (纸本)9781467316163

As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately. © 2012 IEEE.

关键词： Inverse kinematics

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Carrier-based sensor deployment by a mobile robot for wireless sensor networks

Carrier-based sensor deployment by a mobile robot for wirele...

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2012 12th International Conference on control, Automation, Robotics and Vision, ICARCV 2012

作者： Wang, Zhengjie Zhao, Xiaoguang Qian, Xu College of Information and Electrical Engineering Shandong University of Science and Technology Qingdao China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China Beijing China

ISBN: (纸本)9781467318716

We consider a realistic wireless sensor deployment strategy by which mobile robot deploys sensor nodes when it moves along the linear backbone network with some branches. Because of its finite load capacity, the robot has to repeatedly move back to the position where all sensors are temporarily stored and reload sensor nodes, which leads to the robot has to travel the path many times and consumes more energy. We present a Shortest Traveling Path for Robot (STPR) algorithm by which the robot can reduce the traveling path and achieve the required coverage. All nodes are stored at the temporary starting point and mobile robot continuously loads sensors and moves to the destination, dropping some sensor to meet the basic coverage and connectivity requirements. The mobile robot arrives at the far intersection and deploys sensors along the branches in accordance with the algorithm rules, and then returns the recent branch when having enough sensors. Otherwise the robot moves back and deploys sensors on the back path. The robot reloads sensors and repeats the deployment process until all the branches and backbone is finished. The paper proves that the algorithm is effective compared with the common methods. Simulation results show that the algorithm effectively reduces the moving distance at the randomly generated network. © 2012 IEEE.

关键词： Mobile robots

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Artificial power system based on ACP approach

Artificial power system based on ACP approach

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Dong, Xisong Xiong, Gang Hou, Jiachen Fan, Dong State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Beijing China Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songshan Lake Dongguan China

ISBN: (纸本)9781467324007

Modern power system is a typical multi-level complex giant system consisting of physical infrastructures, human operators, and social resources, etc. The conventional analytical methods and simulation systems can't provide sufficient guidance for its operation and management, because they are mainly based on physical models, natural phenomenon, or other existing control methods which are based on reductionism. ACP approach, mainly consisting of artificial systems (A), computational experiments (C) and parallel execution (P), which is based on holism and complex system theory, has its specific advantages in the research on power systems. In this article, ACP approach is applied to build up artificial power system (APS) by using multi-agent complex networks. With the help of APS, actual power system's control, scheduling, optimization and management can be improved further via providing theoretical guidance and technical support for the rolling optimizations in normal situations and emergency management in abnormal situations. As a case study, an APS constructed with actual data from North China power grid is constructed and its vulnerability is simulated and analyzed under random, dynamic and static attacks. © 2012 IEEE.

关键词： Complex networks

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Composite service execution Petri Net and service composition optimization

Composite service execution Petri Net and service compositio...

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2012 IEEE International Conference on Service Operations and Logistics, and Informatics, SOLI 2012

作者： Liu, Sheng Liu, Xiwei Zhao, Hongxia Fu, Wei State Key Laboratory of Management and Control for Complex Systems Beijing Engineering Research Center of Intelligent Systems and Technology Institute of Automation Beijing 100190 China School of International Trade and Economics University of International Business and Economics Beijing 100029 China

ISBN: (纸本)9781467324007

Web services are becoming the most promising technology for cloud computing. When a single web service fails to satisfy service requestor's multiple function demands, web services need to be configured together to form a service composition with cost and other constraints. It is hard to obtain an optimal service composition by the existing service composition methods because the analysis of its dynamic execution process is neglected. This paper uses Petri Net to model and analyze the dynamic execution processes of service compositions. The effect of composite services reliability on the composite service performance is taken into account. The method regards the cost averaged for one time of successful execution of a composite as its actual executing cost, and then selects the composite services with the aim of minimizing the composite service execution cost. The simulation result shows that the proposed method is superior to other methods in execution cost. © 2012 IEEE.

关键词： Quality of service

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Bottleneck Prediction Method Based on Improved Adaptive Network-based Fuzzy Inference System (ANFIS) in Semiconductor Manufacturing System

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Chinese Journal of Chemical Engineering 2012年第6期20卷 1081-1088页

作者：曹政才邓积杰刘民王永吉 College of Information Science and Technology Beijing University of Chemical Technology Key Laboratory of Measurement and Control of Complex Systems of Engineering Ministry of EducationSoutheast University Tsinghua National Laboratory for Information Science and Technology State Key Laboratory of Computer Science Institute of SoftwareChinese Academy of SciencesBeijing 100190China

Semiconductor manufacturing (SM) system is one of the most complicated hybrid processes involved continuously variable dynamical systems and discrete event dynamical systems. The optimization and scheduling of semiconductor fabrication has long been a hot research direction in automation. Bottleneck is the key factor to a SM system, which seriously influences the throughput rate, cycle time, time-delivery rate, etc. Efficient prediction for the bottleneck of a SM system provides the best support for the consequent scheduling. Because categorical data (product types, releasing strategies) and numerical data (work in process, processing time, utilization rate, buffer length, etc.) have significant effect on bottleneck, an improved adaptive network-based fuzzy inference system (ANFIS) was adopted in this study to predict bottleneck since conventional neural network-based methods accommodate only numerical inputs. In this improved ANFIS, the contribution of categorical inputs to firing strength is reflected through a transformation matrix. In order to tackle high-dimensional inputs, reduce the number of fuzzy rules and obtain high prediction accuracy, a fuzzy c-means method combining binary tree linear division method was applied to identify the initial structure of fuzzy inference system. According to the experimental results, the main-bottleneck and sub-bottleneck of SM system can be predicted accurately with the proposed method.

关键词： semiconductor manufacturing system bottleneck prediction adaptive network-based fuzzy inference system

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Market-driven profit optimization for tabular chemical reactors with genetic algorithms

Market-driven profit optimization for tabular chemical react...

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IEEE Symposium on Robotics and Applications (ISRA)

作者： Hai-Peng Qin Peng Chen Yong-Zai Lu Zhao-Li Wu Jian Chu State Key Laboratory of Industrial Control Technology & Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Department of Automation Shanghai Jiaotong University Shanghai China Department of Chemical and Biological Engineering Zhejiang University Hangzhou China

With the uncertainty in the prices of feedstock, energy and finished products, the profit optimization plays a critical role in making a chemical production enterprise more dynamic and flexible to adapt the changes in global marketplace. This paper presents the development of profit optimization solution with an integration of profit model and model-based genetic algorithm (GA) optimization, and its industrial case study on an ethanolamine (EA) production line. The proposed methodology and solution may also be applied to other chemical manufacturing enterprises.

关键词： Robots

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Photoinduced and microbial degradation of dissolved organic matter in natural waters

Environmental Science and Engineering

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Environmental Science and Engineering 2013年第9783642322228期 273-364页

作者： Mostofa, Khan M.G. Liu, Cong-qiang Minakata, Daisuke Wu, Fengchang Vione, Davide Mottaleb, M.Abdul Yoshioka, Takahito Sakugawa, Hiroshi State Key Laboratory of Environmental Geochemistry Institute of Geochemistry Chinese Academy of Sciences Guiyang550002 China School of Civil and Environmental Engineering Brook Byers Institute for Sustainable Systems Georgia Institute of Technology 828 West Peachtree Street Suite 320 AtlantaGA30332 United States State Environmental Protection Key Laboratory of Lake Pollution Control Chinese Research Academy of Environmental Sciences Chaoyang100012 China Dipartimento Chim Analit University Turin TurinI-10125 Italy Centro Interdipartimentale NatRisk GrugliascoTOI-10095 Italy Northwest Missouri State University 800 University Drive MaryvilleMO64468 United States Field Science Education and Research Center Kyoto University Kitashirakawa Oiwake-cho Sakyo-ku Kyoto606-8502 Japan Department of Environmental Dynamics and Management Graduate School of Biosphere Science Hiroshima University 1-7-1 Kagamiyama Higashi-Hiroshima739-8521 Japan

Solar radiation is a universal and regular phenomenon in biosphere that is vital for all life in the Earth’s *** maintains all the physical, chemical and biological processes of organic matter and dissolved organic m... 详细信息

ISBN: (纸本)9783642361425

关键词： Biogeochemistry

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Dynamic Modeling and Vibration Mode Analysis for an industrial Robot with Rigid Links and Flexible Joints

Dynamic Modeling and Vibration Mode Analysis for an Industri...

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The 24th Chinese control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

作者： Yanhui Qiang Fengshui Jing Junfang Zeng Zengguang Hou State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Beijing Sciample Technology CO.LTDBeijing 100190 China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese

Nowadays, most industrial robots have been designed to be mechanically stiff with rigid link. When a robot with heavy payload is running in fast motions, the residual vibrations of the end-effector are primary caused by joint flexibility. Therefore, the flexibility of joint cannot be neglected. This paper presents a systematic approach to dynamic modeling and residual vibration mode analysis for an industrial robot with rigid links and flexible joints (RLFJ). First, the flexibility of the joint is modeled as a torsional spring and the dynamic equations for this robot are derived by using Lagrange’s method. Then, to examine residual vibration properties of the system, numerical simulation is carried out. The following important conclusions are drawn from simulation results: (1) the proposed dynamic model can represent joint flexibility of industrial robot and the joint flexibility causes the residual vibration of the end-effector;(2) for a given RLFJ model, the residual vibration is mainly affected by the payload mass, path of the task and joint stiffness.

关键词： Dynamic Model Flexible Joint Residual Vibration industrial Robot

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Modified extremal optimization for the hard maximum satisfiability problem

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Journal of Zhejiang University-Science C(Computers and Electronics) 2011年第7期12卷 589-596页

作者： Guo-qiang ZENG 1,Yong-zai LU 2,Wei-Jie MAO 2 (1 College of Physics & Electronic Information Engineering,Wenzhou University,Wenzhou 325035,China) (2 state key laboratory of industrial control technology,institute of cyber-systems and control,Zhejiang University,Hangzhou 310027,China) College of Physics & Electronic Information Engineering Wenzhou University State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University

Based on our recent study on probability distributions for evolution in extremal optimization (EO),we propose a modified framework called EOSAT to approximate ground states of the hard maximum satisfiability (MAXSAT) problem,a generalized version of the satisfiability (SAT) *** basic idea behind EOSAT is to generalize the evolutionary probability distribution in the Bose-Einstein-EO (BE-EO) algorithm,competing with other popular algorithms such as simulated annealing and *** results on the hard MAXSAT instances from SATLIB show that the modified algorithms are superior to the original BE-EO algorithm.

关键词： Extremal optimization (EO) Evolution Probability distributions Maximum satisfiability (MAXSAT) problem

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A Minimum Entropy Approach for Multiple-model Estimation

A Minimum Entropy Approach for Multiple-model Estimation

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International Conference on Information Fusion

作者： Han Shen-Tu AnKe Xue DongLiang Peng State Key Laboratory of Industrial Control Technology Institute of Cyber-System and Control Zhejiang University Hang Zhou 310027 P.R. China Institution of Information and Control Hangzhou Dianzi University Hang Zhou 310018 P.R. China

ISBN: (纸本)9781467304177

Multiple-model (MM) methods are effective in handling mode uncertainties and the variable structure multiplemodel (VSMM) approach is one technique of the state of art. However, designing a better model set adaptive (MSA) mechanism is still a challenging problem both in theory and practice. In this paper, we present new theoretical analysis to evaluate the quality of model sequence sets in a nested structure which implies a principle-to find effective model sequence sets with the smallest size if the risk of missing real modes is small enough. A minimum entropy multiple-model (MEMM) approach is proposed to calculate the model sets with minimum Shannon entropy through feed back the online information into the fusion center. Sub-optimal MEMM algorithms are also designed with a particle filter. An example of maneuvering target tracking is considered in simulations. The proposed algorithms are compared to several existing VSMM algorithms and the results show that the MEMM algorithms are robust and effective in both estimation precision and converging rate.

关键词： multiple-model minimum entorpy nested strcture feed back maneuvering

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