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Robot assisted rehabilitation of the arm after stroke:prototype design and clinical evaluation

Science China(Information Sciences) 2017年第7期60卷 252-258页

作者： Liang PENG Zeng-Guang HOU Long PENG Lincong LUO Weiqun WANG State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Robot assisted rehabilitation training is a promising tool for post-stroke patients’ recovery, and some new challenges are imposed on robot design, control, and clinical evaluation. This paper presents a novel upper limb rehabilitation robot that can provide safe and compliant force feedbacks to the patient for the benefits of its stiff and low-inertia parallel structure, highly backdrivable capstan-cable transmission, and impedance control method in the workspace. The "assist-as-needed"(AAN) clinical training principle is implemented through the "virtual tunnel" force field design, the "assistance threshold" strategy, as well as the virtual environment training games, and preliminary clinical results show its effectiveness for motor relearning for both acute and chronic stroke patients, especially for coordinated movements of shoulder and elbow.

关键词： rehabilitation robot passive training active training force feedback impedance control

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Event-triggered attitude tracking for rigid spacecraft

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Science China(Information Sciences) 2019年第12期62卷 178-193页

作者： Deheng CAI Hengguang ZOU Junzheng WANG Yuan HUANG Dawei SHI State Key Laboratory of Intelligent Control and Decision of Complex Systems School of AutomationBeijing Institute of Technology China Academy of Space Technology

This study aims to investigate the problem of attitude control for a spacecraft with inertial uncertainties, external disturbances, and communication restrictions. An event-triggered active disturbance rejection control approach is proposed for attitude tracking of the spacecraft. An event-triggered mechanism is introduced together with an extended state observer to jointly monitor the system states and total disturbances. The observation error is proved to be uniformly bounded. Based on the proposed control scheme,the integrated tracking system is shown to be asymptotically stable, implying successful attitude tracking of the spacecraft for the desired motion. Numerical results illustrate the effectiveness of the control strategy in achieving satisfactory tracking performance with a reduced data-transmission cost.

关键词： spacecraft attitude tracking active disturbance rejection control event-triggered control extended state observer

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Multi-Objective Cooperative Salvo Attack Against Group Target

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Journal of systems Science & complexity 2018年第1期31卷 244-261页

作者： ZENG Jie DOU Lihua XIN Bin School of Automation State Key Laboratory of Intelligent Control and Decision of Complex SystemsBeijing Advanced Innovation Center for Intelligent Robots and Systems Beijing Institute of Technology

This paper proposes a solution for the problem of cooperative salvo attack of multiple cruise missiles against targets in a group. Synchronization of the arrival time of missiles to hit their common target, minimizing the time consumption of attack and maximizing the expected damage to group targets are taken into consideration simultaneously. These operational objectives result in a hierarchical mixed-variable optimization problem which includes two types of subproblems, namely the multi-objective missile-target assignment（MOMTA） problem at the upper level and the time-optimal coordinated path planning（TOCPP） problems at the lower level. In order to solve the challenging problem, a recently proposed coordinated path planning method is employed to solve the TOCPP problems to achieve the soonest salvo attack against each target. With the aim of finding a more competent solver for MOMTA, three state-of-the-art multi-objective optimization methods（MOMs）,namely NSGA-II, MOEA/D and DMOEA-εC, are adopted. Finally, a typical example is used to demonstrate the advantage of the proposed method. A simple rule-based method is also employed for comparison. Comparative results show that DMOEA-εC is the best choice among the three MOMs for solving the MOMTA problem. The combination of DMOEA-εC for MOMTA and the coordinated path planning method for TOCPP can generate obviously better salvo attack schemes than the rule-based method.

关键词： Coordinated path planning missile-target assignment multi-missile salvo attack multiobjective optimization

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Parallel control for Optimal Tracking via Adaptive Dynamic Programming

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IEEE/CAA Journal of Automatica Sinica 2020年第6期7卷 1662-1674页

作者： Jingwei Lu Qinglai Wei Fei-Yue Wang School of Artificial Intelligence University of Chinese Academy of SciencesBeijing 100049 The State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China IEEE State Key Laboratory for Management and Control of Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190 Institute of Systems Engineering Macao University of Science and TechnologyMacao 999078 Qingdao Academy of Intelligent Industries Qingdao 266109China

This paper studies the problem of optimal parallel tracking control for continuous-time general nonlinear *** existing optimal state feedback control,the control input of the optimal parallel control is introduced into the feedback ***,due to the introduction of control input into the feedback system,the optimal state feedback control methods can not be applied *** address this problem,an augmented system and an augmented performance index function are proposed ***,the general nonlinear system is transformed into an affine nonlinear *** difference between the optimal parallel control and the optimal state feedback control is analyzed *** is proven that the optimal parallel control with the augmented performance index function can be seen as the suboptimal state feedback control with the traditional performance index ***,an adaptive dynamic programming(ADP)technique is utilized to implement the optimal parallel tracking control using a critic neural network(NN)to approximate the value function *** stability analysis of the closed-loop system is performed using the Lyapunov theory,and the tracking error and NN weights errors are uniformly ultimately bounded(UUB).Also,the optimal parallel controller guarantees the continuity of the control input under the circumstance that there are finite jump discontinuities in the reference ***,the effectiveness of the developed optimal parallel control method is verified in two cases.

关键词： Adaptive dynamic programming(ADP) nonlinear optimal control parallel controller parallel control theory parallel system tracking control neural network(NN)

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Robust user equilibrium model based on cumulative prospect theory under distribution-free travel time

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Journal of Central South University 2015年第2期22卷 761-770页

作者：王伟孙会君吴建军 Key Laboratory for Urban Transportation Complex Systems Theory of Ministry of Education(Beijing Jiaotong University) State Key Laboratory of Rail Traffic Control and Safety (Beijing Jiaotong University)

The assumption widely used in the user equilibrium model for stochastic network was that the probability distributions of the travel time were known explicitly by travelers. However, this distribution may be unavailable in reality. By relaxing the restrictive assumption, a robust user equilibrium model based on cumulative prospect theory under distribution-free travel time was presented. In the absence of the cumulative distribution function of the travel time, the exact cumulative prospect value(CPV) for each route cannot be obtained. However, the upper and lower bounds on the CPV can be calculated by probability *** were assumed to choose the routes with the best worst-case CPVs. The proposed model was formulated as a variational inequality problem and solved via a heuristic solution algorithm. A numerical example was also provided to illustrate the application of the proposed model and the efficiency of the solution algorithm.

关键词： user equilibrium cumulative prospect theory distribution-free travel time variational inequality

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Parameter estimation survey for multi-joint robot dynamic calibration case study

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Science China(Information Sciences) 2019年第10期62卷 102-116页

作者： Shaolin ZHANG Shuo WANG Fengshui JING Min TAN The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences CAS Center for Excellence in Brain Science and Intelligence Technology

Accurate model parameters are the basis of robot dynamics. Many linear and nonlinear models have been proposed to calibrate the inertial parameters and friction parameters of multi-joint ***, methods of choosing a model and calculating its parameters still have few summaries. This paper reviews typical linear/nonlinear models and different calculation methods for robot dynamic *** simulations, the features of different methods are analyzed, including torque error, parameter error, model adaptability, solution time, and anti-interference ability of the calibration results. Finally, an experiment performed on a six-degree-of-freedom industrial manipulator is used as an example to illustrate how to select the model for a specified robot. These comparisons and experiments provide references for the parameter calibration of multi-joint robots.

关键词： dynamic parameter calibration friction calibration robot dynamics industrial manipulator dynamic models

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On Event-triggered Adaptive Robust control 36

On Event-triggered Adaptive Robust Control

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第36届中国控制会议

作者： Yuan Huang Junzheng Wang Dawei Shi State Key Laboratory of Intelligent Control and Decision of Complex Systems

ISBN: (纸本)9781538629185

In this work,an event-triggered adaptive robust controller（ET-ARC） design is considered for a continuous-time nonlinear system combined with structural uncertainties and parameter *** the event-trigger scheme,the controller only can obtain the sampled date of the output measurement at some certain instants determined by the designed triggering condition and therefore the performance of the ET-ARC depends on the triggering condition ***,in this work,for the adaptive robust control scheme,an event-triggered transmission strategy is proposed,which relies on the output measurement of the nonlinear ***,based on this strategy,the design idea of the adaptive robust controller is presented such that the tracking performance is ***,based on a more general assumption,we provide a possible formation of control signal which satisfies the requirement proposed.

关键词： Adaptive robust control event-triggered transmission parameter estimation

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Multi-scale Graph-matching Based Kernel for Character Recognition from Natural Scenes

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自动化学报 2014年第4期40卷 751-756页

作者： Cun-Zhao SHI[a]Author Vitae Chun-Heng WANG[a]Author Vitae Bai-Hua XIAO[a]Author Vitae Yang ZHANG[b]Author Vitae Song GAO[a]Author Vitae [a]The State Key Laboratory of Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China[b]Kuyun Interactive Technology Limited Beijing 100007 China

认出从自然景色图象提取的字符由于 intraclass 变化的高度是相当挑战性的。在这份报纸，我们为景色特性识别建议一个多尺度的匹配图的基于的核。以便捕获人物的内在地特殊的结构，每幅图象被与多尺度的图象格子联系的几张图代表。当也... 详细信息

认出从自然景色图象提取的字符由于 intraclass 变化的高度是相当挑战性的。在这份报纸，我们为景色特性识别建议一个多尺度的匹配图的基于的核。以便捕获人物的内在地特殊的结构，每幅图象被与多尺度的图象格子联系的几张图代表。当也越过邻近的节点保存空间一致性时，二幅图象的类似被匹配二张图(图象) 因此定义为最佳精力，它在图为每个节点发现最好的火柴。计算类似是合适的为支持向量机器(SVM ) 构造一个核。与多尺度的格子匹配图获得的多重核被联合以便最后的核是更柔韧的。挑战性的 Chars74k 和 ICDAR03-CH 数据集上的试验性的结果证明建议方法比现状方法更好表现。

关键词：字符识别自然场景多尺度内核配基场景图图形表示最佳匹配

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Accelerating exploitation and integration of global renewable energy

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Innovation 2025年

作者： Wang, Jianxiao Chen, Xinjiang Zhuang, Minghao Li, Yan Ruan, Ziwen Wang, Yuhan Zhang, Ning Song, Jie He, Kebin Lu, Xi National Engineering Laboratory for Big Data Analysis and Applications Peking University Beijing100871 China Department of Industrial Engineering and Management College of Engineering Peking University Beijing100871 China Peking University Ordos Research Institute of Energy Ordos017000 China State Key Laboratory of Nutrient Use and Management College of Resources and Environmental Sciences China Agricultural University Beijing100193 China College of Environmental Science and Engineering Tongji University Shanghai200092 China School of Environment State Key Joint Laboratory of Environment Simulation and Pollution Control Tsinghua University Beijing100084 China State Key Lab of Power Systems Department of Electrical Engineering Tsinghua University Beijing100084 China Institute for Carbon Neutrality Tsinghua University Beijing100084 China

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The Metaverse of Mind:Perspectives on DeSci for DeEco and DeSoc

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IEEE/CAA Journal of Automatica Sinica 2022年第12期9卷 2043-2046页

作者： Fei-Yue Wang IEEE The State Key Laboratory for Management and Control of Complex Systems Chinese Academy of SciencesBeijing100190China Macao Institute of Systems Engineering Macao University of Science and TechnologyMacao999078China

First of all, I would like to take this opportunity to express my sincere and deep thanks to our Editor-in-Chief, Professor Meng Chu Zhou, who took over my position after I was drafted for rejuvenating IEEE Transactions on Computational Social systems in 2017. During the past five years, Meng Chu’s professional leadership and dedication has transformed IEEE/CAA Journal of Automatica Sinica(JAS) from its infancy to a young and high-impact publication in the world that is full of vitality and actively engaged by a group of talented and charged associate Ei Cs and editors, which is clearly demonstrated in Meng Chu’s farewell editorial [1]. I am very glad that Professor Qing-Long Han, an influential and leading scientist of the world-class in AI, control, automation, and intelligent science and technology from Australia, as well as a staunch supporter and great leader of this journal from its beginning, will take over the Ei C torch from Meng Chu next year, since I am extremely confident that our journal will reach a new high for its service and quality under his new leadership.

关键词： journal leadership Australia

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