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检索条件"机构=the State Key Laboratory of Robotics and the Key Laboratory of Networked Control Systems"

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Chebyshev-Polynomial Neuronet,WASD Algorithm and World Population Prediction from Past 10000-year Rough Data

Chebyshev-Polynomial Neuronet,WASD Algorithm and World Popul...

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第27届中国控制与决策会议

作者： Dongsheng Guo Yunong Zhang Liangyu He Keke Zhai Hongzhou Tan School of Information Science and Technology Sun Yat-sen University (SYSU) SYSU-CMU Shunde International Joint Research Institute Key Laboratory of Autonomous Systems and Networked Control Ministry of Education

ISBN: (纸本)9781479970186

The population of the world attracts considerable attention,as it is closely related to the development of human *** prediction of the world population,which can be used for planning and research,is becoming more and more *** this report,we present a neuronet approach for world population *** that the history population data contain the general regularity of the population development,and are also the comprehensive reflection of the population development under the influence of all factors(e.g.,natural environment,policy and economy).Thus,using the past 10000-year rough data,a 3-layer feedforward neuronet equipped with the weights-and-structure-determination(WASD) algorithm is constructed for the prediction of the world population in this *** various numerical testings,such a WASD neuronet indicates that there are several possibilities of the change of the world population in the *** the most possibility,the trend of the world population in the next decade is:to rise,peak in 2020,and then decline.

关键词： Chebyshev-Polynomial Neuronet,WASD Algorithm,World Population,Approximation,Prediction

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Dynamic modeling and control simulation of a modified delta manipulator

Dynamic modeling and control simulation of a modified delta ...

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International Conference on Information and Automation (ICIA)

作者： Jianlong Hao Xiaoliang Xie Guibin Bian Zhenqiu Feng Zhanjie Gao Zengguang Hou Hongnian Yu Luige Vladareanu State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Faculty of Science and Technology Bournemouth University Poole Dorset UK Robotics and Mechatronics Department Romanian Academy Romian

ISBN: (纸本)9781467391054

The delta parallel mechanism has proven to be a very successful parallel robot design and a number of variants have been proposed in the literature. Taking advantage of its simple construction and the intrinsic features such as high stiffness and accuracy, delta robots play an important role both in the fields of industrial robots and academical fields. In this paper, dynamic modeling and control simulation of a cable-driven modified delta manipulator for haptic interface are discussed. For the parallel mechanism is highly coupled and nonlinear, the dynamic model is of great importance for model-based controller to achieve a satisfactory performance. Based on the principle of virtual work, the dynamic equations of this manipulator are established. The proportional-derivative (PD) computed torque control scheme is proposed for trajectory tracking. With the help of the virtual prototype builded in ADAMS software and used in MATLAB software, the co-simulation is accomplished and the results validate the performance of the controller proposed in this paper.

关键词： Manipulator dynamics Joints Mathematical model Computational modeling Prototypes Trajectory

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Joint spectrum sensing and jamming detection with correlated channels in cognitive radio networks

Joint spectrum sensing and jamming detection with correlated...

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IEEE International Conference on Communications Workshops, ICC

作者： Jafar Mohammadi Slawomir Stańczak Meng Zheng Communications and Information Theory Chair Technische Universität Berlin Berlin Germany Fraunhofer Heinrich Hertz Institute Berlin Germany Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China

In a cognitive radio (CR) scenario, we study the joint problem of spectrum sensing and jamming detection. Modelling the scenario as a multiple hypothesis testing problem, we analyse the probability of detection of the optimal detector in the sense of Neyman-Pearson theorem. We derive one exact form in terms of a series and a closed-form version. Moreover, we evaluate the asymptotic probability of detection, as it results in a simpler form to handle. In all of the above analysis, we consider the spatially correlated observation data. We further consider two practical scenarios where first we have no knowledge of the jammer's signal, and second where we have no knowledge of the noise power. We apply generalized likelihood ratio test in both of the cases. Simulation results confirm the accuracy of our asymptotic performance derivations.

关键词： Jamming Noise Detectors Maximum likelihood estimation Covariance matrices Conferences

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A Largely Model Independent Solution for the Position control of a Typical Inverted Pendulum System 33

A Largely Model Independent Solution for the Position Contro...

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第三十三届中国控制会议

作者： GAO Qiang CHEN Shasha LI Yi LI Junfang Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems School of Electrical EngineeringTianjin University of Technology Tianjin Key Laboratory of Intelligent Robotics Nankai University

ISBN: (纸本)9781479947249

An Active Disturbance Rejection based solution is proposed for the position control of a standard inverted pendulum system, demonstrating a largely model independent design that is distinctly different from existing model-based designs from classical as well as modern control theory. The quality of the control loop is further improved with a unique double disturbance observer design, which rejects independently the disturbance and uncertainty in both the pendulum itself and the cart that carries it. This proposed approach offers a promising and practical solution because it's intuitive to understand and easy to tune, in addition to its strong performance and effectiveness shown in both simulation study and real time experimentation.

关键词： ADRC LESO Inverted pendulum Real-time control

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Adaptive frequency hopping in industrial Wireless Sensor Networks: A decision-theoretic framework

Adaptive frequency hopping in industrial Wireless Sensor Net...

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IEEE International Conference on Cyber Technology in Automation, control, and Intelligent systems

作者： Meng Zheng Bo Yang Wei Liang Haibin Yu Lin Chen Laboratory of Industrial Control Network and System Shenyang Institute of Automaton Shenyang France Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang France University of Chinese Academy of Sciences Beijing France Laboratoire de Recherche en Informatique (LRI) University of Paris-Sud XI Orsay France

This paper proposes an adaptive frequency hopping (AFH) approach that allows Industrial Wireless Sensor Networks (IWSNs) to cognitively switch working channels for high transmission reliability. Assuming the communication spectrum state follows a Markov Process (MP), we build a theoretical AFH framework based on the theory of Markov Decision Process (MDP). With this decision-theoretic framework, we can achieve an AFH strategy that maximizes the expected cumulative transmission reliability over a finite horizon. Judging the high computational complexity of the proposed MDP model, we further propose a myopic AFH with reduced complexity by assuming that each channel evolves independently. Without additional computation burdens or control messages exchange between sensors, the proposed AFH strategies are centrally computed by the network manager. Simulations finally demonstrate the efficiency of the proposed AFH strategies.

关键词： Wireless sensor networks Sensors Reliability Wireless communication Computational modeling Complexity theory Ad hoc networks

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ZG tracking control of 3-input 3-output nonlinear system with GD used additionally once more

ZG tracking control of 3-input 3-output nonlinear system wit...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Yunong Zhang Yinyan Zhang Xiaogang Yan Binbin Qiu Hongzhou Tan School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou

In this paper, the tracking control problem of a 3-input 3-output nonlinear system is investigated and solved. By adopting and generalizing Zhang-gradient (ZG) method, as the novel combination of Zhang dynamics (ZD) and gradient dynamics (GD), in a quite different way (i.e., with GD used additionally once more), a ZG controller group is designed and proposed for the tracking control of the aforementioned system. Furthermore, simulation results substantiate the efficacy of the proposed controller group in fulfilling the tracking control task of the 3-input 3-output (3I3O) system.

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Complete theory for E47 and 94LVI algorithms solving inequality-and-bound constrained quadratic program efficiently

Complete theory for E47 and 94LVI algorithms solving inequal...

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Chinese Automation Congress (CAC)

作者： Yunong Zhang Jian Li Mingzhi Mao Weibing Li Senbo Fu Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Shunde China School of Information Science and Technology Sun Yat-sen University Guangzhou China

ISBN: (纸本)9781467371902

This paper presents the relatively complete theory for the two new numerical algorithms, i.e., E47 algorithm and 94LVI algorithm, for solving the quadratic program (QP) subject to inequality and bound constraints efficiently. Specifically, via the important “Bridge” theorems and with their proofs provided, the QP problem is converted equivalently into a piecewise-linear projection equation (PLPE). The E47 and 94LVI algorithms are thus developed to solve the PLPE and also the QP. Note that, compared with the previous achievements with only the sufficiency proved, strict proofs (i.e., both the sufficiency proofs and the necessity proofs) of the “Bridge” theorems are firstly presented. Besides, the convergence property of the two algorithms is analyzed in the paper, and theoretical proofs ensure the global linear convergence of the two algorithms about the final decision variable vector x, instead of the primal-dual decision variable vector y.

关键词： Bridges Algorithm design and analysis Convergence Upper bound Manipulators Mathematical model Linear matrix inequalities

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Warming substantiated by multiple sine functions decomposition of multiple cities' temperature data

Warming substantiated by multiple sine functions decompositi...

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Chinese Automation Congress (CAC)

作者： Yunong Zhang Jingyao Ma Binbin Qiu Sitong Ding Zhi Yang Ministry of Education Key Laboratory of Autonomous Systems and Networked Control Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China School of Information Science and Technology Sun Yat-sen University Guangzhou China

In recent years, extensive efforts have been committed to the temperature forecast work, and more and more studies have indicated that the temperature is rising. For the purpose of forecasting long-term temperature trend, a temperature forecast method named multiple sine functions decomposition (MSFD) method is presented in this paper. Based on the numerical experiments for 12 Asia-Pacific (APAC) cities, the efficacy of the MSFD method and the warming trend of APAC region are substantiated. The core concept of the MSFD method is that, by decomposing a historical temperature sequence into sine waveforms, multiple sine functions are thus obtained and applied to forecasting the future temperature trend. Different degrees of warming in the ensuing 200 years are forecasted from the results of numerical experiments. In addition, we find that the high-latitude cities are generally more evident in terms of temperature change compared with those low-latitude cities. In summary, with the most possibility, the general temperature trend of APAC region is upward.

关键词： Market research Ocean temperature Cities and towns Temperature distribution Forecasting Temperature control

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Inverse-free solution of Z1G1 type to acceleration-level inverse kinematics of redundant robot manipulators

Inverse-free solution of Z1G1 type to acceleration-level inv...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Ying Wang Xiaogang Yan Liangyu He Hongzhou Tan Yunong Zhang School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou

In past decades, the online solution of inverse kinematics (IK) has always been a mathematically troublesome problem for redundant robot manipulators. Besides, the traditional IK approaches, such as the pseudo-inverse method, have to calculate the computationally expensive inverse (specifically, pseudo-inverse) of Jacobian matrix. To drastically and effectively avoid the Jacobian inversion and to obtain the accurate solution of the time-varying IK problem for redundant robot manipulators, a special type of inverse-free solution, namely of Z1G1 type, is thus proposed and investigated at the joint-acceleration level in this paper. In addition, we conduct the path-tracking simulations performed on three-link, four-link and five-link planar robot manipulators to substantiate the effectiveness and accuracy of such an inverse-free solution. Moreover, the experiment based on a six-link redundant robot manipulator hardware system illustrates the physical realizability of the proposed novel solution for handling the time-varying IK problem of the redundant robot manipulator(s) in an inverse-free manner.

关键词： Robots Joints Hardware Kinematics Acceleration

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Tracking and stabilizing Chen chaotic system via one multiplicative coefficient as Zhang-gradient control input

Tracking and stabilizing Chen chaotic system via one multipl...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： Yunong Zhang Zeqi Chen Yinyan Zhang Tianjian Qiao Hongzhou Tan School of Information Science and Technology Sun Yat-sen University (SYSU) Guangzhou China SYSU-CMU Shunde International Joint Research Institute Foshan China Key Laboratory of Autonomous Systems and Networked Control Ministry of Education Guangzhou

This paper considers solving the tracking and stabilizing control problems of the Chen chaotic system with multiplicative inputs. By using the Zhang-gradient (ZG) method, which combines Zhang dynamics (ZD) and gradient dynamic (GD), a ZG controller is obtained for solving the problems above. Moreover, another new ZG controller is designed by using the ZG method again. Simulation results further show the effectiveness and high efficiency of the ZG controllers.

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