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第三十四届中国控制会议

作者： Yunpeng Wang Long Cheng Hongming Wang Zeng-Guang Hou Min Tan Hongnian Yu State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology China North Vehicle Research Institute Faculty of Science and Technology Bournemouth University

ISBN: (纸本)9781467374439

This paper studies the leader-following consensus problem of discrete-time generic linear multi-agent systems. Agents share their states with their neighbors via a noisy communication network. An algorithm is proposed for the leader-following consensus problem where the time-varying gain is employed to attenuate noises. Different from most previous results where all agents have to use the same time-varying gain, each agent can have its own time-varying gain. Sufficient conditions for solving the mean square leader-following consensus problem are obtained: 1) the communication topology graph has a spanning tree;2) the summation of every time-varying gain from zero to infinite is infinite;3) all time-varying gains are infinitesimal of the same order as time goes to infinity;and 4) all roots of a so-called "parameter polynomial" are inside the unit circle. Finally, a simulation example is given to verify the theoretical results.

关键词： Multi-Agent system,Leader-following consensus,Mean square,Communication noise.

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Containment control of General Linear Multi-agent systems with Multiple Dynamic Leaders:a Fast Sliding Mode Based Approach

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IEEE/CAA Journal of Automatica Sinica 2014年第2期1卷 134-140页

作者： Huiyang Liu Long Cheng Min Tan Zengguang Hou State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences

In this paper, distributed containment control problems of general linear multi-agent systems are investigated. The objective is to make the followers in a multi-agent network converge to the convex hull spanned by some leaders whose control inputs are nonzero and not available to any *** mode surfaces are defined for the cases of reduced order and non-reduced order, respectively. For each case, fast sliding mode controllers are designed. It is shown that all the error trajectories exponentially reach the sliding mode surfaces in a finite time if for each follower, there exists at least one of the leaders who has a directed path to the follower, and the leaderscontrol inputs are bounded. The control Lyapunov function for exponential finite time stability, motivated by the fast terminal sliding mode control, is used to prove reachability of the sliding mode surfaces. Simulation examples are given to illustrate the theoretical results.

关键词： Multi-agent systems Sliding mode control Trajectory Robot sensing systems Robot kinematics Manifolds

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Public service management system of urban placenames for Sanya case

Public service management system of urban placenames for San...

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

作者： Wei Liu Fenghua Zhu Xisong Dong Gang Xiong Yongqiang Zhu Huazhou Wu Taozhong Liu Yuexiang Hu The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China College of Information Science and Technology Beijing University of Chemical Technology Beijing China Beijing Engineering Research Center of Intelligent Systems and Technology Chinese Academy of Sciences Beijing China Instituteof Smart Education Systems Qingdao Academy of Intelligent Industries Qingdao China Dongguan Research Institute of CASIA Chinese Academy of Sciences Dongguan China Xiamen Kingtopinfo Technology Co. Ltd Xiamen China Joint Laboratory of Parallel Management & Control and Business Intelligence Hainan Zhongke Flower Ocean Cloud Commerce Technology Co. Ltd Haikou China

ISBN: (纸本)9781509029280

The rapidly growing amount of social interaction makes geographical names an important and indispensable medium for people in social and economic exchanges. Especially in today's information age, the frequency of usage of name information has increased greatly. In this paper, a method for the construction of a cities' names database is proposed. This will include the processing of the outcome data from the names pilot survey, the consolidation into the database, the development of the cloud service and management system based on the geographical names and zoning database, and the construction of a relatively complete set of the public service system of geographical names based on a website and touch screen interface. The method has been applied in SanYa, China successfully, and very good results have been obtained. The platform can provide not only accurate and convenient services of geographical names, but also promote its economic development and social progress.

关键词： Urban areas Standards Cloud computing Economics Spatial databases Geospatial analysis

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Path Following and Obstacle Avoidance control Based on Different Fuzzy Grains

Path Following and Obstacle Avoidance Control Based on Diffe...

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2015年中国智能自动化学术会议

作者： Yifei Kong Chaoyi Chen Yuequan Yang Zhiqiang Cao College of Information Engineering Yangzhou University State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences

This paper presented a hierarchical fuzzy path following control scheme based on different fuzzy grain size in a class of unknown environment with static *** employing fine-grained fuzzy division and design of fuzzy rule table for the rotation angle and speed of a robot,a more accurate path following control was achieved,while more effective fuzzy obstacle avoidance was realized with coarse-grained fuzzy division *** proposed controller was a two-leveled architecture in which the higher level was the decision-making of the sub-task switching of path following or obstacle avoidance,while the lower level was motion control of path following and fuzzy obstacle ***,the simulation experiments were carried out to demonstrate the feasibility and effectiveness of the proposed scheme.

关键词： Robot Fuzzy control Path following Obstacle avoidance

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Optimal Cooperative control for Residential Multi-Battery systems Using Iterative Adaptive Dynamic Programming

Optimal Cooperative Control for Residential Multi-Battery Sy...

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第27届中国控制与决策会议

作者： Qinglai Wei Guang Shi Yu Liu Qiang Guan Derong Liu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Institute of Automation Chinese Academy of Sciences

In this paper,an iterative adaptive dynamic programming(ADP) algorithm is developed to solve the optimal cooperative control problems for residential multi-battery *** avoid solving high-dimensional optimal control problems,we first constrain all the batteries at their worst performance,which transforms the multi-input optimal control problem into a single-input *** on the worst-performance optimal control law,the optimal cooperative control law for the residential multi-battery systems is obtained,where in each iteration,only a single-input optimization problem is ***,numerical results are given to illustrate the performance of the developed algorithm.

关键词： Adaptive critic designs,Adaptive dynamic programming,Approximate dynamic programming,Smart grid,Smart home,Optimal control.

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A Pdf-Free Change Detection Test for Data Streams Monitoring

A Pdf-Free Change Detection Test for Data Streams Monitoring

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IEEE Symposium Series on Computational Intelligence (SSCI)

作者： Li Bu Dongbin Zhao Cesare Alippi The State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Politecnico di Milano Milano Italy

ISBN: (纸本)9781479975617

We experience changes in stationarity/time variance in many practical applications. Since changes modify the operational framework the application is working with, its accuracy performance is in turn affected. When changes can occur, we need to detect them as soon as possible, in general by inspecting features extracted from data, and afterwards intervene to mitigate their effects. In this paper, we propose a novel change detection test based on the least squares density difference estimation. Neither assumptions about the distribution of features are needed, nor the change types are made (the method is pdf-free and can handle arbitrary changes.). What here proposed requires limited data to become operational and thresholds needed to assess the change can be set met to predefined false positive rates. We show through comprehensive experiments the effectiveness of the detection method and point out how it outperforms other related methods.

关键词： Training Monitoring Feature extraction Probability density function Kernel Least squares approximations Estimation

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A New Second-order Fuzzy control Scheme for Dynamic Obstacle Avoidance

A New Second-order Fuzzy Control Scheme for Dynamic Obstacle...

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第27届中国控制与决策会议

ISBN: (纸本)9781479970186

For the dynamic obstacle avoidance problem in a unknown environment,a second-order fuzzy control strategy is proposed based on fuzzy *** the observation and analysis of the perception information of the delta speed and the delta deviation angle of a detected dynamic obstacle,the robot then make decision to efficiently avoid dynamical ***,a two hierarchical control scheme is designed,where the upper level is to determine the deflection angle according to delta of speed and direction of dynamic obstacles,and the lower one is to derive the speed of a robot by employing the output of the upper level and the distance between the robot and dynamic *** simulations are demonstrated that the proposed scheme is effective and efficient.

关键词： robot dynamic obstacle avoidance fuzzy control

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Data-Driven Room Classification for Office Buildings Based on Echo state Network

Data-Driven Room Classification for Office Buildings Based o...

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第27届中国控制与决策会议

作者： Guang Shi Qinglai Wei Yu Liu Qiang Guan Derong Liu The State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Institute of Automation Chinese Academy of Sciences

ISBN: (纸本)9781479970186

In this paper,based on echo state network(ESN),a data-driven method is developed to solve the room classification problem of office *** developed method is divided into two *** the data of electricity consumption,which are classified into electricity consumption from sockets,lights and air-conditioners for a typical room in an office building,the first step is to reconstruct the behavior of electricity consumption in three types by using three *** second step is to classify the room into a certain category of office room,computer room,storage room and meeting room by establishing another *** developed method fully utilizes the outstanding performance of ESN in chaotic time-series prediction and *** study on an office building illustrates the accuracy and effectiveness of the developed method.

关键词： Data-driven room classification,Office buildings,Electricity consumption,Neural networks,Echo state network.

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Author Correction: The power of genetic diversity in genome-wide association studies of lipids

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Nature 2023年第7965期618卷 E19-E20页

作者： Sarah E Graham Shoa L Clarke Kuan-Han H Wu Stavroula Kanoni Greg J M Zajac Shweta Ramdas Ida Surakka Ioanna Ntalla Sailaja Vedantam Thomas W Winkler Adam E Locke Eirini Marouli Mi Yeong Hwang Sohee Han Akira Narita Ananyo Choudhury Amy R Bentley Kenneth Ekoru Anurag Verma Bhavi Trivedi Hilary C Martin Karen A Hunt Qin Hui Derek Klarin Xiang Zhu Gudmar Thorleifsson Anna Helgadottir Daniel F Gudbjartsson Hilma Holm Isleifur Olafsson Masato Akiyama Saori Sakaue Chikashi Terao Masahiro Kanai Wei Zhou Ben M Brumpton Humaira Rasheed Sanni E Ruotsalainen Aki S Havulinna Yogasudha Veturi QiPing Feng Elisabeth A Rosenthal Todd Lingren Jennifer Allen Pacheco Sarah A Pendergrass Jeffrey Haessler Franco Giulianini Yuki Bradford Jason E Miller Archie Campbell Kuang Lin Iona Y Millwood George Hindy Asif Rasheed Jessica D Faul Wei Zhao David R Weir Constance Turman Hongyan Huang Mariaelisa Graff Anubha Mahajan Michael R Brown Weihua Zhang Ketian Yu Ellen M Schmidt Anita Pandit Stefan Gustafsson Xianyong Yin Jian'an Luan Jing-Hua Zhao Fumihiko Matsuda Hye-Mi Jang Kyungheon Yoon Carolina Medina-Gomez Achilleas Pitsillides Jouke Jan Hottenga Gonneke Willemsen Andrew R Wood Yingji Ji Zishan Gao Simon Haworth Ruth E Mitchell Jin Fang Chai Mette Aadahl Jie Yao Ani Manichaikul Helen R Warren Julia Ramirez Jette Bork-Jensen Line L Kårhus Anuj Goel Maria Sabater-Lleal Raymond Noordam Carlo Sidore Edoardo Fiorillo Aaron F McDaid Pedro Marques-Vidal Matthias Wielscher Stella Trompet Naveed Sattar Line T Møllehave Betina H Thuesen Matthias Munz Lingyao Zeng Jianfeng Huang Bin Yang Alaitz Poveda Azra Kurbasic Claudia Lamina Lukas Forer Markus Scholz Tessel E Galesloot Jonathan P Bradfield E Warwick Daw Joseph M Zmuda Jonathan S Mitchell Christian Fuchsberger Henry Christensen Jennifer A Brody Mary F Feitosa Mary K Wojczynski Michael Preuss Massimo Mangino Paraskevi Christofidou Niek Verweij Jan W Benjamins Jorgen Engmann Rachel L Kember Roderick C Slieker Ken Sin Lo Nuno R Zilhao Phuong Le Marcus E Kleber Graciela E Delgado Shaofeng Huo Dai Department of Internal Medicine Division of Cardiology University of Michigan Ann Arbor MI USA. VA Palo Alto Health Care System Palo Alto CA USA. Department of Medicine Division of Cardiovascular Medicine Stanford University School of Medicine Stanford CA USA. Department of Computational Medicine and Bioinformatics University of Michigan Ann Arbor MI USA. William Harvey Research Institute Barts and the London School of Medicine and Dentistry Queen Mary University of London London UK. Department of Biostatistics and Center for Statistics Genetics University of Michigan Ann Arbor MI USA. Department of Genetics Perelman School of Medicine University of Pennsylvania Philadelphia PA USA. Clinical Pharmacology William Harvey Research Institute Barts and The London School of Medicine and Dentistry Queen Mary University of London London UK. Endocrinology Boston Children's Hospital Boston MA USA. Medical and Population Genetics Broad Institute Cambridge MA USA. Department of Genetic Epidemiology University of Regensburg Regensburg Germany. McDonnell Genome Institute and Department of Medicine Washington University St Louis MO USA. Department of Precision Medicine Division of Genome Science National Institute of Health Cheongju-si South Korea. Tohoku Medical Megabank Organization Tohoku University Sendai Japan. Sydney Brenner Institute for Molecular Bioscience Faculty of Health Sciences University of the Witwatersrand Johannesburg South Africa. Center for Research on Genomics and Global Health National Human Genome Research Institute National Institutes of Health Bethesda MD USA. Blizard Institute Barts and the London School of Medicine and Dentistry Queen Mary University of London London UK. Wellcome Sanger Institute Hinxton UK. Department of Epidemiology Emory University Rollins School of Public Health Atlanta GA USA. Atlanta VA Health Care System Decatur GA USA. Malcolm Randall VA Medical Center Gainesville FL USA. Division of Vascular Sur

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Shared control for teleoperation enhanced by autonomous obstacle avoidance of robot manipulator

Shared control for teleoperation enhanced by autonomous obst...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Xinyu Wang Chenguang Yang Hongbin Ma Long Cheng Centre for Robotics and Neural Systems Plymouth University Plymouth UK State Key Lab of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Ministry of Education South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China

In this paper, a human robot shared control strategy is developed and tested on a Baxter robot. Using the proposed method, the human operator only needs to consider the motion of the end-effector of the manipulator, while the manipulator will avoid obstacle by itself without sacrificing the end effector motion performance. An improved obstacle avoidance strategy based on the joint space redundancy of the manipulator is designed. A dimension reduction method is presented to solve the over defined problem of avoiding velocity to achieve a more efficient use of the redundancy. By employment of an artificial parallel system of the teleoperate manipulator and the task switching weighting factor, the proposed control method enable the robot restoring back to the commanded pose smoothly when the obstacle is removed. By implementing the dimension reduction method, the trajectory of each joint of the manipulator can be controlled at the same time to achieve the restoring task. Thus, the proposed control method can eliminate the impact of the obstacle on the remaining task. Satisfactory experiment results demonstrate the effectiveness of the proposed methods.

关键词： Manipulators Collision avoidance Robot kinematics Trajectory Kinematics Robot sensing systems

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