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Journal of Systems Science & Complexity 2018年第1期31卷 69-86页

作者： shi liangren ZHAO Zhiyun LIN Zongli Department of Automation Shanghai Jiao Tong University and Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai 200240 China Key Laboratory of Advanced Control and Optimization for Chemical Processes (East China University of Science and Technology) Ministry of Education Shanghai 200237 China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia P.O. Box 400743 Charlottesville VA 22904-4743 USA

This paper investigates both the robust semi-global leaderless consensus problem and the robust semi-global containment control problem for a group of identical linear systems with imperfect actuators. The imperfect actuators are characterized by nonlinearities such as saturation and dead zone and there input output relationships are not precisely known. The dynamics of follower agents are also affected by the input additive disturbances. Low-and-high gain feedback consensus protocols are constructed to solve these problems. More specifically, it is shown that robust semi-global leaderless consensus can be achieved over a connected undirected graph and robust semi-global containment control can be achieved when each follower agent has access to the information of at least one leader agent. Numerical simulation illustrates the theoretical results.

关键词： Consensus containment control dead zone leaderless consensus multi-agent systems saturation

Semi-Global Leaderless Consensus of Linear Multi-agent Systems with Actuator and Communication Constraints

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Journal of Systems Science & Complexity 2020年第4期33卷 882-902页

作者： WANG Jian shi liangren GUAN Xinping Department of Automation and Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai Jiao Tong UniversityShanghai 200240China Shanghai Key Laboratory of Navigation and Location-based Services and Academy of Information Technology and Electrical EngineeringShanghai Jiao Tong UniversityShanghai 200240China

This paper studies the leaderless consensus problems of multi-agent systems with input saturation and intermittent communication over directed networks. Both the state feedback and the output feedback consensus algorithms are developed based on low gain feedback approach. The convergence of the trajectories of all agents can be achieved by these proposed algorithms, if the communication topology has a directed spanning tree, and the intermittent communication period T and time rate ρ are larger than their associated threshold values. Simulation examples are provided to verify the theoretical results.

关键词： agent directed communication

Robust semi-global leader-following practical consensus of a group of linear systems with imperfect actuators

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Science China(Information Sciences) 2017年第7期60卷 195-206页

作者： liangren shi Zhiyun ZHAO Zongli LIN Department of Automation Shanghai Jiao Tong University Key Laboratory of Advanced Control and Optimization for Chemical Processes(East China University of Science and Technology) Ministry of Education Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

This paper considers the problem of semi-global leader-following consensus of a multi-agent system whose agent dynamics are represented by linear systems. The input output characteristics of the follower agent actuators, such as those of saturation and dead-zone, are imperfect, not precisely known, and subject to the effect of disturbances. Two consensus control algorithms, of the low-and-high gain feedback type and the low gain based variable structure control type, are proposed for solving the consensus problem. It is shown that both of these control algorithms achieve semi-global leader-following practical consensus in the presence of the imperfectness of the actuators when the communication topology among the follower agents is represented by a strongly connected and detailed balanced directed graph and the leader agent is a neighbor of at least one follower agent. The theoretical results are illustrated by numerical simulation.

关键词： consensus leader-following actuator saturation dead-zone low-and-high gain feedback low gain based variable structure control

Semi-Global Consensus Problems of Discrete-Time Multi-Agent Systems in the Presence of Input Constraints

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Journal of Shanghai Jiaotong university(Science) 2020年第3期25卷 288-298页

作者： WANG Jian shi liangren Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China Key Laboratory of System Control and Information Processing of Ministry of Education Shanghai Jiao Tong UniversityShanghai 200240China Shanghai Key Laboratory of Navigation and Location-Based Services Shanghai Jiao Tong UniversityShanghai 200240China Academy of Information Technology and Electrical Engineering Shanghai Jiao Tong UniversityShanghai 200240China

This paper studies the consensus problems of the discrete-time multi-agent systems (MASs) in the presence of input saturation constraints over directed communication *** kinds of consensus problems,of the leaderless consensus problem with no leader agent and the containment control problem with multiple leader agents,are investigated in this *** gain feedback consensus algorithms based on the improved discretetime parametric algebraic Riccati equation (ARE) are proposed to solve the consensus *** the MAS without any leader,the trajectories of all agents converge together when the communication networks contain a directed spanning *** the MAS with multiple leaders,the trajectories of all follower agents converge to the convex hull spanned by the leader agents when there is at least one leader agent which is trackable for each follower *** examples are provided to verify the theoretical results.

关键词： leaderless consensus containment control discrete-time low gain input saturation

Semi-Global Output Containment Control of Linear Multi-agent Systems with Actuator Saturation

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Semi-Global Output Containment Control of Linear Multi-agent...

The Performance Evaluation and Resilience Analysis of Supply Chain Based on Logistics Network

第37届中国控制会议

作者： liangren shi Zongli Lin Student Innovation Center and Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information Processing of the Ministry of Education Charles L. Brown Department of Electrical and Computer Engineering University of Virginia

In this paper, we study the semi-global output containment control problem of a multi-agent system in the presence of actuator saturation over a directed network. The leader and follower agents are of different dynamics, and the follower agents are affected by disturbances generated by the leader agents through directed paths in the communication topology. The control objective of the output containment control is to drive the output trajectories of the follower agents to converge to the convex hull spanned by the outputs of the leader agents in the presence of disturbances. Low gain feedback containment protocols are constructed based on the output regulation approach and distributed observers. It is shown that semi-global output containment control can be achieved by the proposed protocols, if each follower agent is connected to at least one leader agent through a directed path in the communication topology. Simulation results verify the theoretical conclusions.

关键词： Multi-agent systems output containment control output regulation low gain feedback actuator saturation

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The Performance Evaluation and Resilience Analysis of Supply...

Indoor Vehicle Positioning Based on Multi-Sensor Data Fusion

第三十九届中国控制会议

作者： Weiqi Sun Yuanlong Li liangren shi Department of Automation Shanghai Jiao Tong Universityand Key Laboratory of System Control and Information Processing of the Ministry of Education Shanghai Key Laboratory of Navigation and Location-based Services and Academy of Information Technology and Electrical Engineering Shanghai Jiao Tong University

With the development of globalization, more and more enterprises are involved in the supply chain network with increasingly complex structure. In this paper, enterprises and relations in the logistics network are abstracted as nodes and edges of the complex network. A graph model for a supply chain network to specified industry is constructed, and the Neo4 j graph database is employed to store the graph data. This paper uses the theoretical research tool of complex network to model and analyze the supply chain, and designs a supply chain network evaluation system which include static and dynamic measurement indexes according to the statistical characteristics of complex network. In this paper both the static and dynamic resilience characteristics of the the constructed supply chain network are evaluated from the perspective of complex network. The numeric experimental simulations are conducted for validation. This research has practical and theoretical significance for enterprises to make strategies to improve the anti-risk capability of supply chain network based on logistics network information.

关键词： Complex network Supply chain network Graph database Neo4j Resilience evaluation

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Journal of Shanghai Jiaotong university(Science) 2023年第1期28卷 77-85页

作者：王明阳时良仁李元龙 Department of Automation Shanghai Jiao Tong University、Key Laboratory of System Control and Information Processing of Ministry of EducationShanghai 200240China

This study proposes a Kalman filter-based indoor vehicle positioning method for cases in which the steering angle and rotation speed of the vehicle’s wheels are *** fusing the position and velocity data from the ultra-wideband sensors and acceleration and orientation data from the inertial measurement unit,we developed two algorithms to estimate the real-time position of the vehicle based on a linear Kalman filter and extended Kalman filter,*** then conducted simulations and experiments to examine the performances of the *** the experiment,the Kalman filtering hyperparameters are configured,and we then ran the two algorithms to determine the positioning precision and accuracy with the ground truth produced via *** verified that our method can improve precision and accuracy compared with the raw positioning data and can achieve desirable effects for indoor vehicle positioning when vehicles travel at low speeds.

关键词： indoor vehicle positioning multi-sensor data fusion ultra-wideband linear Kalman filter extended Kalman filter

Intelligent intersection scheduling based on vehicle traffic priority

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Intelligent intersection scheduling based on vehicle traffic...

第40届中国控制会议

作者： Zhengxin Ruan Sicong Chen Yuanlong Li liangren shi Department of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai Engineering Research Center of Intelligent Control and Management

This paper proposes an intelligent intersection management method based on the vehicle dynamic priority. By the information interaction between the autonomous vehicles（AVs） and the infrastructure equipment, the vehicle position and posture information is obtained in real time, and the priority of the vehicles passing through the conflict points in the scene is determined according to the order of the vehicles driving through the crossroads. Subsequently, to track the planned trajectory, we use the model predictive control（MPC） algorithm minimize the intersection delay with collision-free constraints. This guarantees the vehicles to drive through the intersection safely in the scene. Simulation experiments demonstrate the reliability and efficiency of the proposed algorithm.

关键词： Autonomous vehicle Intersection management system Vehicle-to-infrastructure communication Dynamic priority Model predictive control

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基于新常态下多元化创新实践的培养模式

实验室研究与探索 2020年第4期39卷 178-181,216页

作者：刘彦博黄宏成时良仁上海交通大学学生创新中心上海200240

在教育信息化平台从1.0升级到2.0的背景下,传统的问题驱动学习(problem-based learning)和工程驱动学习(program-based learning)也升级为多元化项目驱动学习(project-based learning)、远景驱动学习能力(prospect-based learning)。基于多元化项目驱动学习和远景驱动学习能力就是以学生为主体,创新中心结合创新理念和前沿科技,如AI先行、人本先行的思维应用到社区、教育、环保、健康、能源、交通等可持续发展领域,进而促进学生从技术应用能力到信息素养能力提升,从学习环境自适应能力到学习系统升级能力提升,从制造型思维能力到多元化智能型思维能力提升。将数字技术和开源思想应用于现实社会中,并将创新想法转变为现实。高校实验室、实训中心、创新中心、创业中心等生态圈的衍生地、孵化地,促进学生个性化发展。文章结合学校现有设备资源和近些年学生参加全国竞赛的作品进行了分析。

关键词：多元项目驱动学习远景驱动学习 AI先行人本先行

Cell softness reveals tumorigenic potential via ITGB8/AKT/glycolysis signaling in a mice model of orthotopic bladder cancer

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Chinese Medical Journal 2024年第2期137卷 209-221页

作者： shi Qiu Yaqi Qiu Linghui Deng Ling Nie Liming Ge Xiaonan Zheng Di Jin Kun Jin Xianghong Zhou Xingyang Su Boyu Cai Jiakun Li Xiang Tu Lina Gong liangren Liu Zhenhua Liu Yige Bao Jianzhong Ai Tianhai Lin Lu Yang Qiang Wei Department of Urology Institute of UrologyNational Clinical Research Center for Geriatrics and Center of Biomedical Big DataWest China Hospital of Sichuan UniversityChengduSichuan 610041China Department of Molecular Oncology Institute of Oncology Research(IOR)Oncology Institute of Southern Switzerland(IOSI)Bellinzona 6500Switzerland Department of Science and Drug Technology University of TurinTurinItaly National Clinical Research Center of Geriatrics The Center of Gerontology and GeriatricsWest China HospitalSichuan UniversityChengduSichuan 610000China Department of Pathology West China HospitalSichuan UniversityChengduSichuan 610041China Department of Pharmaceutics and Bioengineering School of Chemical EngineeringSichuan UniversityChengduSichuan 610000China

Background:Bladder cancer,characterized by a high potential of tumor recurrence,has high lifelong monitoring and treatment *** date,tumor cells with intrinsic softness have been identified to function as cancer stem cells in several cancer ***,the existence of soft tumor cells in bladder tumors remains ***,our study aimed to develop a microbarrier microfluidic chip to efficiently isolate deformable tumor cells from distinct types of bladder cancer ***:The stiffness of bladder cancer cells was determined by atomic force microscopy(AFM).The modified microfluidic chip was utilized to separate soft cells,and the 3D Matrigel culture system was to maintain the softness of tumor *** patterns of integrinβ8(ITGB8),protein kinase B(AKT),and mammalian target of rapamycin(mTOR)were determined by Western *** immunostaining was conducted to examine the interaction between F-actin and tripartite motif containing 59(TRIM59).The stem-cell-like characteristics of soft cells were explored by colony formation assay and in vivo studies upon xenografted tumor ***:Using our newly designed microfluidic approach,we identified a small fraction of soft tumor cells in bladder cancer *** importantly,the existence of soft tumor cells was confirmed in clinical human bladder cancer specimens,in which the number of soft tumor cells was associated with tumor ***,we demonstrated that the biomechanical stimuli arising from 3D Matrigel activated the F-actin/ITGB8/TRIM59/AKT/mTOR/glycolysis pathways to enhance the softness and tumorigenic capacity of tumor ***,we detected a remarkable up-regulation in ITGB8,TRIM59,and phospho-AKT in clinical bladder recurrent tumors compared with their non-recurrent ***:The ITGB8/TRIM59/AKT/mTOR/glycolysis axis plays a crucial role in modulating tumor softness and ***,the soft tumor cells become more sensitive to chemother

关键词： Soft tumor cells 3D Matrigel Stemness Non-muscle invasive bladder neoplasms Microfluidic analytical techniques