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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： Zhen-Qiu Feng Gui-Bin Bian Xiao-Liang Xie Jian-Long Hao Zhan-Jie Gao Zeng-Guang Hou the State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China

ISBN: (纸本)9781424492695

Robot-assisted vascular interventions present promising trend for reducing the X-ray radiation to the surgeon during the operation. However, the control methods in the current vascular interventional robots only repeat the manipulation of the surgeon. While under certain circumstances, it is necessary to scale the manipulation of the surgeon to obtain a higher precision or a shorter manipulation time. A novel control method based on motion scaling for vascular interventional robot is proposed in this paper. The main idea of the method is to change the motion speed ratios between the master and the slave side. The motion scaling based control method is implemented in the vascular interventional robot we've developed before, so the operator can deliver the interventional devices under different motion scaling factors. Experiment studies verify the effectiveness of the motion scaling based control.

关键词： Preliminary Study Motion Scaling Based control surgeon Surgeons control Methods Robot Scale formation Dental Scaling Scaling based

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Path planning for unmanned aerial vehicles in surveillance tasks under wind fields

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Journal of Central South University 2014年第8期21卷 3079-3091页

作者：张兴陈杰辛斌 School of Automation Beijing Institute of Technology State Key Laboratory of Intelligent Control and Decision of Complex Systems

The optimal path planning for fixed-wing unmanned aerial vehicles(UAVs) in multi-target surveillance tasks(MTST) in the presence of wind is *** take into account the minimal turning radius of UAVs,the Dubins model is used to approximate the dynamics of *** on the assumption,the path planning problem of UAVs in MTST can be formulated as a Dubins traveling salesman problem(DTSP).By considering its prohibitively high computational cost,the Dubins paths under terminal heading relaxation are introduced,which leads to significant reduction of the optimization scale and difficulty of the whole ***,in view of the impact of wind on UAVs' paths,the notion of virtual target is *** application of the idea successfully converts the Dubins path planning problem from an initial configuration to a target in wind into a problem of finding the minimal root of a transcendental ***,the Dubins tour is derived by using differential evolution(DE) algorithm which employs random-key encoding technique to optimize the visiting sequence of ***,the effectiveness and efficiency of the proposed algorithm are demonstrated through computational *** results exhibit that the proposed algorithm can produce high quality solutions to the problem.

关键词： unmanned aerial vehicle path planning in wind field Dubins traveling salesman problem terminal heading relaxation differential evolution

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Synchronization of a network of nonlinear agents with input disturbances

Synchronization of a network of nonlinear agents with input ...

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第27届中国控制与决策会议

作者： Shidong Zhai Qingdu Li Research Center of Analysis and Control for Complex Systems and Key Laboratory of Industrial Internet of Things & Networked ControlMinistry of EducationChongqing University of Posts and Telecommunications

ISBN: (纸本)9781479970186

This paper considers the synchronization of a network of nonlinear systems with disturbances in input and measured *** assume that every agent satisfies passivity *** defining a controlled output,the synchronization problem is converted to H control *** design a distributed dynamical output-feedback control protocol such that the closed-loop system satisfies a guaranteed H *** addition,we design a distributed static output-feedback control protocol such that the closed-loop system satisfies a guaranteed H performance in the case that the measured output is not influenced by disturbance.A numerical example about Goodwin oscillators is presented to illustrate the effectiveness of the proposed control law.

关键词： H_∞ consensus incremental output-feedback passivity nonlinear systems input disturbances

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Research on pump-HA motor speed control system based on switched PID control

Research on pump-HA motor speed control system based on swit...

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Chinese Automation Congress (CAC)

作者： Hao Jiang Shoukun Wang Junzheng Wang Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology Beijing P. R. China

ISBN: (纸本)9781467371902

Aiming to improve the control precision of pump-HA(high pressure automatic variables) motor speed control systems, the characteristic of HA motor displacement control mechanism is analyzed, and the mathematical model of pump-HA motor system is established. Taking the nonlinear character of the system, the system is approximated to a few of first order plus time delay processes, according to the working conditions. Parameters of the system models under different working conditions are identified by step response identification, PID parameters are tuned by a parameter tuning algorithm. A UKF state estimator is designed to estimate the load torque on the basis of the state space model established, then PID parameters are switched according to the desired speed and load torque. The research results indicate that switched PID control can ensure the system always has a good dynamic performance under different conditions and improve the control precision, making the system deal with various complex working conditions.

关键词： Yttrium Oscillators

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CONSENSUS control DESIGN FOR MULTI-AGENT systems USING RELATIVE OUTPUT FEEDBACK

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Journal of systems Science & complexity 2014年第2期27卷 237-251页

作者： WANG Jinhuan LIU Zhixin HU Xiaoming School of Sciences and School of Control Science and Engineering Hebei University of Technology Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Chinese Academy of Sciences Optimization and Systems Theory and ACCESS Linnaeus Center Royal Institute of Technology

This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring agents can be measured. To solve the consensus problem, the authors first construct a static relative output feedback control under some mild constraints on the system model. Then the authors use an observer based approach to design a dynamic relative output feedback control. If the adjacent graph of the system is undirected and connected or directed with a spanning tree, with the proposed control laws, the consensus can be achieved. The authors note that with the observer based approach, some information exchange between the agents is needed unless the associated adjacent graph is completely connected.

关键词： Consensus decentralized control multi-agent systems observer.

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Finite-time sliding mode attitude control for a reentry vehicle with blended aerodynamic surfaces and a reaction control system

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Chinese Journal of Aeronautics 2014年第4期27卷 964-976页

作者： Geng Jie Sheng Yongzhi Liu Xiangdong Key Laboratory for Intelligent Control&Decision of Complex Systems Beijing Institute of Technology School of Automation Beijing Institute of Technology

This paper proposes a finite-time robust flight controller, targeting for a reentry vehicle with blended aerodynamic surfaces and a reaction control system（RCS）. Firstly, a novel finite-time attitude controller is pointed out with the introduction of a nonsingular finite-time sliding mode manifold. The attitude tracking errors are mathematically proved to converge to zero within finite time which can be estimated. In order to improve the performance, a second-order finite-time sliding mode controller is further developed to effectively alleviate chattering without any deterioration of robustness and accuracy. Moreover, an optimization control allocation algorithm, using linear programming and a pulse-width pulse-frequency（PWPF） modulator, is designed to allocate torque commands for all the aerodynamic surface deflections and on–off switching-states of RCS *** are provided for the reentry vehicle considering uncertain parameters and external disturbances for practical purposes, and the results demonstrate the effectiveness and robustness of the attitude control system.

关键词： Chattering alleviation control allocation Finite-time convergence Flight control systems Second-order sliding mode Singularity elimination Sliding mode control

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Change management on improvement project for success

Change management on improvement project for success

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

作者： Guangyu Xiong Aping Zhao Timo R. Nyberg Gang Xiong Department of Industrial Engineering and Management School of Science Helsinki Finland FINLAND Internal Consulting Group Beijing China Cloud Computing Center Chiense Academy of Sciences Dongguan China Teamosuking Investment Project Management CO Ltd Nanjing CHINA Department of Industrial Engineering and Management Aalto University AALTO FINLAND The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Science Beijing P.R. China

ISBN: (纸本)9781509029280

A success of an improvement project on solving a problem in an organization is not only depending an appropriate methodology on problem solving with Lean, TOC or 6 sigma with relevant tools, but also it is very important to have an appropriate methodology and process on change management integrated with project management during the improvement project. This paper describes the principle of change management based on existing literature, and illustrates a case study on how an improvement project apply theory and methodology of change management to make successful change. Firstly, the literature review relevant to concerns for support change in a business environment is introduced. General tools, models, and solutions to make a change effectively in an organization are explained. Next one framework with relevant tools and models are selected to the case study that conducts a manufacturing with ETO (Engineering-to-order) product. Next regarding the readiness for change, and the implementation of the change the paper introduces how the selected framework and the tools and models on change management is integrated with project management during different phases of the improvement project. As a result, it shows a success both from improvement project and change management perspective. In particular, achievement in the change management is not only showing the successful improvement project, but also the organization realizes another great positive change - people's improved behavior on daily work. Hence a long-term benefit from the improvement project and change management is gained. The achievement shows that similar approach on change management in an organization may be applied to more organizations.

关键词： Problem-solving Project management Companies Industrial engineering Bibliographies

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Pose synchronization of rigid body networks with switching topologies

Pose synchronization of rigid body networks with switching t...

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第三十四届中国控制会议

作者： Juan Deng Wenjun Song Zhixin Liu John S.Baras Key Laboratory of Systems and Control Academy of Mathematics and Systems Science CAS Division of Optimization and Systems Theory KTH Royal Institute of Technology Electrical Engineering Department and the Institute for Systems Research University of Maryland College Park

ISBN: (纸本)9781467374439

Coordination control of multiple rigid bodies attracts much attention of researchers due to its wide applications. This paper presents the pose synchronization problem of the moving rigid bodies whose dynamics is described by the group SE(3).The case of bidirectional neighbor graphs with switching interconnection topologies is considered. We design a distributed control law based on relative rotation matrices and relative positions between the neighboring rigid bodies, and show that the SE(3)reaches pose synchronization if and only if the neighbor graphs are infinitely jointly connected, which relaxes the theoretical results in the existing literature.

关键词： SE(3),pose synchronization,coordination control,infinitely joint connectivity

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RBF neural network identifier based constrained optimal guidance for Mars entry vehicles

RBF neural network identifier based constrained optimal guid...

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International Conference on Information Science and Technology (ICIST)

作者： Teng-Hai Qiu Biao Luo Huai-Ning Wu Lei Guo Science and Technology on Aircraft Control Laboratory Beijing University of Aeronautics and Astronautics Beijing China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a radial basis function (RBF) neural network (NN) identifier based approximate constrained optimal guidance law is proposed for Mars entry vehicles guidance. Firstly, an RBF NN identifier is used to identify the system uncertain parameters. With the identified parameters, the optimal guidance problem of Mars entry vehicles is transformed into an optimal tracking control one, which depends on the solution of the Hamilton-Jacobi-Bellman (HJB) equation. Due to the control input constraints, a generalized non-quadratic performance function is proposed. In general, the HJB equation is a nonlinear partial differential equation that is difficult or even impossible to be solved analytically. We use an NN to solve the HJB equation approximately. Finally, the Monte-Carlo simulation results on the Mars entry vehicles demonstrate the effectiveness of the proposed method.

关键词： Artificial neural networks Indexes Mathematical model

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Research on mud pulse signal extraction and recognition algorithm in MWD

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Energy Education Science and Technology Part A: Energy Science and Research 2014年第3期32卷 1889-1902页

作者： Tu, Bing Zhang, Xiaofei Zhan, Tengxi Zhang, Wei Hunan Institute of Science and Technology School of Information and Communication Engineering Yueyang 414006 China College of Hunan Province Key Laboratory of Optimization and Control for Complex Systems Yueyang 414006 China

Mud pulse signal extracting in Wireless measure while drilling (MWD) was a core technology in the process of oil drilling development. Whether the resolution of detected mud pulse signal start point location is accurate or not in ground decoding system would directly affect the accurate level of decoding. For the resolution problems of mud pulse signal start time position, this paper analyzed the transmission format of Manchester coded down-hole datum and transmission characteristics of mud pulse signal, using a wavelet multi-scale and related de-noising algorithm to extract mud pulse signal. According to the characteristics of the Manchester coded underground synchronization signal, It proposed an algorithm based on the combination of equal segmentations within a signal period and waveform correlation to accurately define the mud pulse signal starting time. After extracting the start time position, establishing the pulse signal recognition model within two cycles and using a pattern recognition algorithm to recognize mud pulse signal. The field tests show that the algorithm can accurately define the mud pulse signal starting time and can effectively improve the decoding accuracy and meet the requirements of engineering applications. © Sila Science. All rights reserved.

关键词： Pattern recognition

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