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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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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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GPU based ordinal optimization for traffic signal coordination

GPU based ordinal optimization for traffic signal coordinati...

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

作者： Wang, Kai Shen, Zhen Changsha Hunan China 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 Dongguan Research Institute of CASIA Cloud Computing Center Chinese Academy of Sciences Songshan Lake Dongguan 523808 Guangdong Province China

ISBN: (纸本)9781467324007

Traffic signal coordination has long been a hot topic in Intelligent Transportation systems (ITS) research. Simulation-based optimization is an important method to optimize the coordination designs as the traffic systems are not easily described by mathematical models accurately. For the traffic simulator in the method, micro-simulation is becoming more and more popular than the macroscopic or mesoscopic simulation in recent years, as the micro-simulation can describe drivers' decision-making process and their driving behaviors in the framework of ITS. However, the computing burden for the micro-simulation is usually very heavy as a large number of vehicles are modeled and simulated separately. For the optimizer in the method, iterative algorithms such as Genetic Algorithms (GA), Ant Colony Optimization (ACO), and Particle Swarm Optimization (PSO) are widely used to find the global optimal solutions. However, these algorithms usually take too much time to converge when a large-scale road network is encountered. To alleviate the computing burden and speed up the convergence, we build an agent-based traffic simulator and employ Ordinal Optimization (OO) as the optimizer. We accelerate both the simulator and the optimizer with Graphics Processing Unit (GPU), which has been applied successfully in many areas for parallel computing. Simulation results show the effectiveness of the OO method and the power of GPU for parallel computing. © 2012 IEEE.

关键词： Graphics processing unit

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PFC constraints consistency of multi-layer control structure

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Nanjing Li Gong Daxue Xuebao/Journal of Nanjing University of Science and technology 2012年第SUPPL.2期36卷 269-275页

作者： Shi, Ming-Hua Liu, Zhe Xie, Lei Gu, Yong State Key Lab. of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China

Aiming at the problem of multi-layer control structure that can't insure the correctness and feasibility of optimization results of outer loop since the variables constraints in different layers are not uniform, the constraints consistency of multi-layer control structure predictive functional control (PFC) is analyzed. The constraints back calculations from the basic control layer to the dynamic optimization and control layer and then to the steady state optimization layer are implemented, hence the constraints consistency for multi-layer control and optimization is realized to insure that the calculated setpoints are always correct and feasible for basic loop actuators. The simulation results for an integral process show the improvement of control performance by the constraints consistency of multi-layer control structure.

关键词： Back calculation Constraints consistency Predictive functional control Transparent control

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A GPU based trafficparallel simulation module of artificial transportation systems

A GPU based trafficparallel simulation module of artificial ...

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

ISBN: (纸本)9781467324007

Traffic micro-simulation is an important tool in the Intelligent Transportation systems (ITS) research. In the micro-simulation, a bottom up system can be built up by the interactions of vehicle agents, road agents, traffic lights agents, etc. The Artificial societies, Computational experiments, and Parallel execution (ACP) approach suggests integrating other metropolitan systems such as logistic, infrastructure, legal and regulatory, weather and environmental systems to build an Artificial Transportation System (ATS) to help solve ITS problems. This is reasonable as the transportation system is complex that is affected by many systems interacting with each other. However, there is a challenge that the computing burden can be very heavy as there can be many agents of different kinds interacting in parallel in ATS. In recent years, the Graphics Processing Units (GPUs) have been applied successfully in many areas for parallel computing. Compared with the traditional CPU cluster, GPU has an obvious advantage of low cost of hardware and electricity consumption. In this paper, we build a parallel traffic simulation module of ATS with GPU. The simulation results are reasonable and a maximum speedup factor of 105 is obtained compared with the CPU implementations. © 2012 IEEE.

关键词： Graphics processing unit

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Design and reliability,availability,maintainability,and safety analysis of a high availability quadruple vital computer system

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2011年第12期12卷 926-935页

作者： Ping TAN Wei-ting HE Jia LIN Hong-ming ZHAO Jian CHU State Key Laboratory of Industrial Control Technology ＆ Institute of Cyber-Systems and Control Zhejiang University Hangzhou 310027 China hejiang Insigma-Supcon Co. Ltd. Hangzhou 310013 China

With the development of high-speed railways in China,more than 2000 high-speed trains will be put into *** and efficiency of railway transportation is increasingly *** have designed a high availability quadruple vital computer (HAQVC) system based on the analysis of the architecture of the traditional double 2-out-of-2 system and 2-out-of-3 *** HAQVC system is a system with high availability and safety,with prominent characteristics such as fire-new internal architecture,high efficiency,reliable data interaction mechanism,and operation state change *** hardware of the vital CPU is based on ARM7 with the real-time embedded safe operation system (ES-OS).The Markov modeling method is designed to evaluate the reliability,availability,maintainability,and safety (RAMS) of the *** this paper,we demonstrate that the HAQVC system is more reliable than the all voting triple modular redundancy (AVTMR) system and double 2-out-of-2 ***,the design can be used for a specific application system,such as an airplane or high-speed railway system.

关键词： Fault tolerant High availability quadruple vital computer （HAQVC） Reliability availability maintainability and safety （RAMS）

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The Design and Implement of Acoustic Array Sensor Network Platform for Online Multi-target Tracking

The Design and Implement of Acoustic Array Sensor Network Pl...

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International Conference on Distributed Computing in Sensor systems (DCOSS)

作者： Yuanshi Li Zhi Wang Shuguo Zhuo Jie Shen Shengsheng Cai Ming Bao Dahang Feng State Key Laboratory of Industrial Control Technology University of Zhejiang Hangzhou Zhejiang China Institute of Acoustics Chinese Academy of Sciences Beijing China

We present the design, implement and evaluation of a sensing platform for on-line multi-target tracking based on acoustic array networks, named Integrated Acoustic Array Sensor Network Tracker (IAASNT). To provide on-line multi-target tracking service, a well-designed system structure is proposed, composed by supporting components and associations between each part. Among these, IAASNT's multi-level low-power management and integrated tracking frame set it different from other related platforms. The integrated tracking frame is the core of the system and has been carefully designed, to achieve a self-acting tracking service. Finally, a series of experiments on system have been done to evaluate the performance of IAASNT. The tracking experiments on system show a perfect tracking performance in both noise-free and noisy environment, and the tracking precision can be within 5.8m in 300*300m area.

关键词： Target tracking Acoustics Arrays Radar tracking Sensors Wireless sensor networks state estimation

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Robust decentralized dynamic control for synchronization of a complex dynamical network with randomly occurring uncertainties

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Nonlinear Dynamics 2012年第1期70卷 559-570页

作者： Lee, Tae H. Park, Ju H. Wu, Zheng-Guang Lee, Sang-Choel Lee, Dong Ha Nonlinear Dynamics Group Department of Electrical Engineering Yeungnam University Kyongsan Republic of Korea National Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Yuquan Campus Hangzhou Zhejiang P.R. China Division of IT Convergence/Division of Robotics System DGIST Daegu Republic of Korea

This paper considers synchronization problem of an uncertain complex dynamical network. The norm-bounded uncertainties enter into the complex dynamical network in randomly ways, and such randomly occurring uncertainties (ROUs) obey certain mutually uncorrelated Bernoulli distributed white noise sequences. Under the circumstances, a robust $\mathcal{H}_{\infty}$ decentralized dynamic feedback controller is designed to achieve asymptotic synchronization of the network. Based on Lyapunov stability theory and linear matrix inequality (LMI) framework, the existence condition for feasible controllers is derived in terms of LMIs. Finally, the proposed method is applied to a numerical example in order to show the effectiveness of our result.

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