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From Parallel Plants to Smart Plants:intelligent control and Management for Plant Growth

IEEE/CAA Journal of Automatica Sinica 2017年第2期4卷 161-166页

作者： Mengzhen Kang Fei-Yue Wang State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences (SKL-MCCSCASIA) Qingdao Academy of Intelligent Industries Beijing Engineering Research Center of Intelligent Systems and Technology IEEE State Key Laboratory of Management and Control for Complex Systems (SKL-MCCS) Institute of AutomationChinese Academy of Sciences (CASIA) School of Computer and Control Engineering University of Chinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology

Precision management of agricultural systems, aiming at optimizing profitability, productivity and sustainability, comprises a set of technologies including sensors, information systems, and informed management, etc. Expert systems are expected to aid farmers in plant management or environment control, but they are mostly based on the offline and static information, deviated from the actual situation. Parallel management, achieved by virtual/artificial agricultural system, computational experiment and parallel execution, provides a generic framework of solution for online decision support. In this paper, we present the three steps toward the parallel management of plant: growth description U+0028 the crop model U+0029, prediction, and prescription. This approach can update the expert system by adding learning ability and the adaption of knowledge database according to the descriptive and predictive model. The possibilities of passing the knowledge of experienced farmers to younger generation, as well as the application to the parallel breeding of plant through such system, are discussed. © 2017 Chinese Association of Automation.

关键词： Agriculture Artificial intelligence decision support systems Expert systems Sustainable development

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Compound Fault Separation and Diagnosis Method Based on FSA-CNN and DAN

Compound Fault Separation and Diagnosis Method Based on FSA-...

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2021 CAA Symposium on Fault Detection, Supervision, and Safety for Technical Processes, SAFEPROCESS 2021

作者： Dong, Jiechao Yan, Liping Xia, Yuanqing Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems School of Automation Beijing China

ISBN: (纸本)9781665401159

With the industry becoming larger and more complicated, the technology of fault diagnosis becomes more and more important. Due to the strong coupling and non-stationarity of the compound fault, the existing fault diagnosis methods cannot accurately identify all single faults' detailed information contained in the compound fault. This paper proposes a compound fault separation and diagnosis method based on FSACNN and DAN. Firstly, in order to highlight certain frequency segments, frequency segment attention module is added to CNN. Secondly, a compound fault feature separation framework based on DAN is proposed, which can separate compound fault to two fault components accurately. Thiredly, a signature matrix is introduced into ELM to improve the performance of the classifier. Finally, ablation experiments are designed to prove the advantage of the proposed method. © 2021 IEEE.

关键词： Failure analysis

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Disturbance observer based time-varying sliding mode control for uncertain mechanical system

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Journal of systems Engineering and Electronics 2012年第1期23卷 108-118页

作者： Binglong Cong Xiangdong Liu Zhen Chen School of Automation Beijing Institute of Technology Beijing 100081 P. R. China Key Laboratory for Intelligent Control ＆ Decision on Complex Systems Beijing Institute of Technology Beijing 100081 P. R. China

It is now well known that the time-varying sliding mode control （TVSMC） is characterized by its global robustness against matched model uncertainties and disturbances. The accurate tracking problem of the mechanical system in the presence of the parametric uncertainty and external disturbance is addressed in the TVSMC framework. Firstly, an exponential TVSMC algorithm is designed and the main features are analyzed. Especially, the control parameter is obtained by solving an optimal problem. Subsequently, the global chattering problem in TVSMC is considered. To reduce the static error resulting from the continuous TVSMC algorithm, a disturbance observer based time-varying sliding mode control （DOTVSMC） algorithm is presented. The detailed design principle and the stability of the closed-loop system under the composite controller are provided. Simulation results verify the effectiveness of the proposed algorithm.

关键词： mechanical system time-varying sliding mode control （TVSMC） global sliding phase global chattering disturbance observer.

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Decentralized Filtering a Multi-Agent System with Local Parametric Couplings Based On Kalman Filter

Decentralized Filtering a Multi-Agent System with Local Para...

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第25届中国控制与决策会议

作者： Yini Lv Hongbin Ma Mengyin Fu Chenguang Yang Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institution of Technology School of Computing and Mathematics Plymouth University

ISBN: (纸本)9781467355339

In this paper, decentralized filtering of multiagent systems with coupling uncertainties is proposed and investigated. The considered multi-agent system is composed of many agents, each of which evolves with a discrete-time stochastic linear time-varying dynamics, and every agent can be locally influenced by its neighbor agents. Therefore the states evolution of each agent is not only related with its previous states but also related with its neighbors' previous states in the linear dynamic system. Communication limitations existing in the considered multi-agent system restrict that each agent can only observe its own measurements (outputs) and its neighbor agents' outputs while the states are invisible to any agent. Because of communication limitations and information constraints, without knowing the coupling gains of the local interactions, it is not easy for each agent to estimate its states by traditional kalman filter or other state observers, which were extensively discussed in the literature. In this preliminary study, for the considered coupled linear discrete-time multiagent system with uncertain linear local couplings, based on the key idea of state augmentation and the certainty-equivalence principle borrowed from the area of adaptive control, we propose an efficient decentralized kalman filtering scheme, for each agent, to simultaneously estimate the unknown states and coupling parameters, and extensive simulations are conducted, which have clearly verified the effectiveness of the proposed decentralized filtering scheme.

关键词： multi-agent system, kalman filter, parametric couplings, parameter estimation, states estimation, decentralized filtering

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A Model of Collision-Detection for Maxillofacial Multi-arm Surgery Robot

A Model of Collision-Detection for Maxillofacial Multi-arm S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Zhu, Xiang-yu Duan, Xing-guang Chen, Chao Liu, Tian-bo Guo, Qing-bo Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery. This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.

关键词： Multi-arm robot Collision Avoidance Geometric Primitives Collision Detection

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Coordinated Motion control for a Six-wheel-drive Skid-steering Mobile Robot

Coordinated Motion Control for a Six-wheel-drive Skid-steeri...

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2021 China Automation Congress, CAC 2021

作者： Xu, Yongkang Wang, Shoukun Zhao, Hongqiang Chen, Zhihua State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing China State Key Laboratory of High Performance and Complex Manufacturing Central South University Changsha China

ISBN: (纸本)9781665426473

A speed consensus control strategy for a six-wheel-drive skid-steering mobile robot was proposed based on a hierarchical controller in a complex environment with unknown disturbances. The effective method of reliable speed consensus control strategy should consider some disturbances, such as the internal-robot assembly error, which including instability of motor control system and external physical interference in robot dynamic system. In this paper, a driving anti-slip control system with PID and the stability control system with sliding mode by variable structure is designed and integrated to elevate the stability of the robot. And, a G-vector control algorithm based on sliding mode control is proposed to reduce the yaw angle as much as possible during the process of differential steering of robots. The effectiveness of the proposed control strategy is verified by an example of a *** results show that the method has good control performance in control accuracy and stability. © 2021 IEEE

关键词： Motion control

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Event-Trigger Extended Kalman Filter Design for Distributed Generation Network with Limited Communication 36

Event-Trigger Extended Kalman Filter Design for Distributed ...

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第36届中国控制会议

作者： Xing Xin Luyu Li Sen Li Zhen Li Jian Li Zhen Chen Xiangdong Liu Beijing Institute of Electronic System Engineering School of Automation & Key Laboratory for Intelligent Control & Decision on Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781538629185

For distributed generation(DG) network, it is important to estimate the real-time states. The information-centric networking(ICN) is established to take charge of the communication of DG network. However, the assumption of ideal communication between sensors and the estimation center cannot be guaranteed due to the communication constraints of ICN with the increasing DG network. A conventional algorithm, which reduces the communication burden in ICN, is to drop the observation of each smart grid in a random way. However, the accuracy of this algorithm recession decays rapidly with the increasing drop rate. To guarantee an appropriate estimation accuracy when the drop rate increases, this paper introduces the event-trigger strategy into the estimation algorithm. An event-trigger extended kalman filter(ET-EKF) is established in this paper to adapt the nonlinearity of DG system. ET-EKF reduces the communication burden and achieves an appropriate estimation accuracy at the same time. Finally, its feasibility and performance are demonstrated using the standard IEEE 39-bus system with phasor measurement units(PMUs).

关键词： Event-trigger extended Kalman filter(ET-EKF) real-time estimation distributed generation network smart grids phasor measurement unit(PMU)

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Experimental Research on the Ultrasound-guided Positioning System of Microwave Ablation Surgical Robot

Experimental Research on the Ultrasound-guided Positioning S...

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IEEE International Conference on Automation and Logistics (ICAL)

作者： Duan, Xing-guang Guo, Qing-bo Liu, Tian-bo Zhu, Xiang-yu Chen, Chao Yang, Yang Intelligent Robotics Institute State Key Laboratory of Intelligent Control and Decision of Complex Systems School of Mechatronical Engineering Beijing Institute of Technology 5 Nandajie Zhongguancun Haidian 100081 China

ISBN: (纸本)9781467303644

Combined with modern imaging techniques and minimally invasive treatment techniques, microwave ablation surgeries have become one of the most effective methods in the modern comprehensive treatment of cancer. To solve the problems exist in traditional surgeries, microwave ablation surgical robot has been successfully developed. At first, this paper briefly introduces the robot auxiliary treatment process. Then analyzes the ultrasound-guided positioning system in detail. At last, the paper focuses on experimental research process such as robot localization experiment and precision experiment. The experimental results will verify the effectiveness of the robot system and the accuracy of the treatment. Meanwhile, the problems exist in the system are discussed and he future research direction is demonstrated.

关键词： Surgical Robot Ultrasound-guided localization system Microwave Ablation

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Evolutionary Design of controllers with Optimized Structure and Its Application in a Maglev Ball control System 36

Evolutionary Design of Controllers with Optimized Structure ...

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第36届中国控制会议

作者： Zhan Jiaoyang Xin Bin Chen Jie School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

ISBN: (纸本)9781538629185

In order to realize the flexible automatic design of controllers, this paper proposes a library-based controller design method with bi-level optimization of structure and parameters. The controller with optimized structure is composed by components which are selected from a component library. A binary string is used to express a controller structure, where each bit represents the connection relationship between two links. The controller structure and parameters are optimized in a hierarchical manner by the binary Geometric Differential Evolution Algorithm in the outer layer and an advanced Differential Evolution algorithm variant named JADE in the inner layer, respectively. Simulation and experiment of a magnetic levitation ball control system have been done to verify the performance of the presented controller. Results demonstrate the feasibility and superiority of the proposed method.

关键词： Optimal Design of controllers Structural Optimization Library-based controller Design intelligent Optimization Differential Evolution

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Interactive multiobjective evolutionary algorithm based on decomposition and compression

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Science China(Information Sciences) 2021年第10期64卷 166-181页

作者： Lu CHEN Bin XIN Jie CHEN School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

Many real-world optimization problems involve multiple conflicting objectives. Such problems are called multiobjective optimization problems(MOPs). Typically, MOPs have a set of so-called Pareto optimal solutions rather than one unique optimal solution. To assist the decision maker(DM) in finding his/her most preferred solution, we propose an interactive multiobjective evolutionary algorithm(MOEA)called iDMOEA-εC, which utilizes the DM's preferences to compress the objective space directly and progressively for identifying the DM's preferred region. The proposed algorithm employs a state-of-the-art decomposition-based MOEA called DMOEA-εC as the search engine to search for solutions. DMOEA-εC decomposes an MOP into a series of scalar constrained subproblems using a set of evenly distributed upper bound vectors to approximate the entire Pareto front. To guide the population toward only the DM's preferred part on the Pareto front, an adaptive adjustment mechanism of the upper bound vectors and two-level feasibility rules are proposed and integrated into DMOEA-εC to control the spread of the population. To ease the DM's burden, only a small set of representative solutions is presented in each interaction to the DM,who is expected to specify a preferred one from the set. Furthermore, the proposed algorithm includes a two-stage selection procedure, allowing to elicit the DM's preferences as accurately as possible. To evaluate the performance of the proposed algorithm, it was compared with other interactive MOEAs in a series of experiments. The experimental results demonstrated the superiority of iDMOEA-εC over its competitors.

关键词： multiobjective optimization interactive decision making preference incorporation decomposition compression

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