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Dynamic data packing towards the optimization of QoC and QoS in networked control systems

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Science China(Technological Sciences) 2016年第1期59卷 72-80页

作者： KANG Yu zhao yunbo Department of Automation and State Key Laboratory of Fire Science University of Science and Technology of China Key Laboratory of Technology in Geo-Spatial Information Processing and Application System Chinese Academy of Sciences Department of Automation Zhejiang University of Technology

A class of networked control systems is investigated whose communication network is shared with other applications. The design objective for such a system setting is not only the optimization of the control performance but also the efficient utilization of the communication resources. We observe that at a large time scale the data packet delay in the communication network is roughly varying piecewise constant, which is typically true for data networks like the Internet. Based on this observation, a dynamic data packing scheme is proposed within the recently developed packet-based control framework for networked control systems. As expected this proposed approach achieves a fine balance between the control performance and the communication utilization: the similar control performance can be obtained at dramatically reduced cost of the communication resources. Simulations illustrate the effectiveness of the proposed approach.

关键词： networked control systems packet delay variation dynamic data packing quality of control quality of service

Bipartite Consensus of Discrete-Time Double-Integrator Multi-Agent Systems with Measurement Noise

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Journal of Systems Science & Complexity 2018年第6期31卷 1525-1540页

作者： MA Cuiqin zhao Weiwei zhao yunbo School of Mathematical Sciences Qufu Normal UniversityQufu 273165China. No.1Senior Middle School of Qufu Qufu 273165China College of Information Engineering Zhejiang University of TechnologyHangzhou 310023China

The effects of measurement noise are investigated in the context of bipartite consensus of multi-agent systems. In the system setting, discrete-time double-integrator dynamics are assumed for the agent, and measurement noise is present for the agent receiving the state information from its neighbors. Time-varying stochastic bipartite consensus protocols are designed in order to lessen the harmful effects of the noise. Consequently, the state transition matrix of the closed-loop system is analyzed, and sufficient and necessary conditions for the proposed protocol to be a mean square bipartite consensus protocol are given with the help of linear transformation and algebraic graph theory. It is proven that the signed digraph to be structurally balanced and having a spanning tree are the weakest communication assumptions for ensuring bipartite consensus. In particular, the proposed protocol is a mean square bipartite average consensus one if the signed digraph is also weight balanced.

关键词： Bipartite consensus discrete-time double-integrator measurement noise multi-agent systems

Predictive Event-Triggered Control for Disturbanced Wireless Networked Control Systems

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Journal of Systems Science & Complexity 2021年第3期34卷 1028-1043页

作者： zhao yunbo PAN Xiaokang YU Shiming College of Information Engineering Zhejiang University of TechnologyHangzhou 310023China

The control and scheduling for wireless networked control system with packet dropout and disturbance are investigated.A prediction based event triggered control is proposed to reduce data transmissions while preserving the robustness against external ***,a trigger threshold is especially designed to maintain the difference of the estimated and actual states below a proper boundary when system suffers from packet *** a predictive controller is designed to compensate for packet dropouts by utilizing the packet-based control *** sufficient conditions to ensure the closed-loop system being uniformly ultimately bounded are derived,with consequently the controller gain *** examples illustrate the effectiveness of the proposed approach.

关键词： Event-trigger packet-based control wireless networked control systems

Self-Tuning Asynchronous Filter for Linear Gaussian System and Applications

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IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1054-1061页

作者： Wenjun Lv Yu Kang yunbo zhao Department of Automation University of Science and Technology of ChinaHefei 230027China State Key Laboratory of Fire Science Department of Automation and Institute of Advanced TechnologyUniversity of Science and Technology of ChinaHefei 230027China Key Laboratory of Technology in GeoSpatial Information Processing and Application System Chinese Academy of SciencesBeijing 100190China College of Information Engineering Zhejiang University of TechnologyHangzhou 310023China

In this paper, optimal filtering problem for a class of linear Gaussian systems is studied. The system states are updated at a fast uniform sampling rate and the measurements are sampled at a slow uniform sampling rate. The updating rate of system states is several times the sampling rate of measurements and the multiple is constant. To solve the problem,we will propose a self-tuning asynchronous filter whose contributions are twofold. First, the optimal filter at the sampling times when the measurements are available is derived in the linear minimum variance sense. Furthermore, considering the variation of noise statistics, a regulator is introduced to adjust the filtering coefficients adaptively. The case studies of wheeled robot navigation system and air quality evaluation system will show the effectiveness and practicability in engineering.

关键词： Air quality evaluation system linear Gaussian system wheeled robot navigation system

Progression of targeted therapy in advanced cholangiocarcinoma

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Chinese Journal of Cancer Research 2015年第2期27卷 122-127页

作者： Yingying Huang Xiaomei Li yunbo zhao Oncology Department Beijing Hospital of the Ministry of Health Oncology Department Chinese PLA General hospital

It is necessary to establish an effective therapy to improve the survival of patients with advanced eholangiocarcinoma （CCM. Recently, with the development of pathology research in CCA, a lot of special bio-markers such as EGFR, VEGF, HER2, and MEK et al. could be over expression or mutations in CCA patients. According to their changes, combinations of targeted therapy plus chemotherapy are now recognized as effective therapies for advanced CCA. The aim of this paper is to analyze recent promising studies about targeted therapy alone or combination with each other or with chemotherapies.

关键词： Cholangiocarcinoma (CCA) molecular targeted therapy advanced tumor tumor therapy combined therapy

Robust Nonsingular Fixed Time Terminal Sliding Mode Control for Atmospheric Pollution Detection Lidar Scanning Mechanism

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Journal of Systems Science & Complexity 2023年第2期36卷 500-523页

作者： KANG Yu YANG Yuxiao CHEN Cai LüWenjun zhao yunbo Department of Automation University of Science and Technology of ChinaHefei 230027China Institute of Advanced Technology University of Science and Technology of ChinaHefei 230027China State Key Laboratory of Fire Science University of Science and Technology of ChinaHefei 230027China

A robust nonsingular fixed time terminal sliding mode control scheme with a time delay disturbance observer is proposed for atmospheric pollution detection lidar scanning mechanism(APDL-SM)*** from the conventional terminal sliding mode control methods,the authors design a novel fixed-time terminal sliding surface,the convergence time of sliding mode phase of which has a constant upper bound that is designable by adjusting only one ***,in order to overcome the problem of unknown upper bound of lumped uncertainty including model uncertainty,friction effect and external disturbances from the port environment,the authors propose a time delay disturbance observer to provide an estimation for the system lumped *** using the Lyapunov synthesis,the explicit analysis of the convergence time upper bound are ***,simulation studies are conducted on the APDL-SM system to show the fast convergence rate and strong robustness of the proposed control scheme.

关键词： Atmospheric pollution detection lidar fixed time terminal sliding mode time delay disturbance observer tracking control

Modelling and Optimizing Motherboard Functional Testing in Laptop Manufacturing

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Journal of Systems Science & Complexity 2024年第6期37卷 2406-2423页

作者： BAI Peng KANG Yu WANG Kangcheng zhao yunbo DONG Shaojie Department of Automation University of Science and Technology of ChinaHefei 230026China Department of Automation&Institute of Advanced Technology University of Science and Technology of ChinaHefei 230026China Institute of Artificial Intelligence Hefei Comprehensive National Science CenterHefei 230088China Institute of Advanced Technology University of Science and Technology of ChinaHefei 230026China

Functional testing is key to fulfill quality control in laptop manufacturing and is of great economic ***,due to the unavailability of practical data,mathematical model and systematic perspective,it has barely been touched from the academic community to *** the first time,this work provides technical understanding of the key principles of functional testing,mathematically models the general framework,elucidates existing testing strategy under the proposed framework and model,and finally proposes a specified optimization strategy which outperforms existing *** work lays the model foundation for the further optimization of functional testing,and can be regarded as a good example of how a systematic approach can solve practical industrial challenges.

关键词： Laptop manufacturing modelling motherboard functional testing optimization

Model-Based Network Scheduling and Control for Systems over the IEEE 802.15.4 Network

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Journal of Systems Science & Complexity 2021年第1期34卷 281-297页

作者： zhao yunbo XU Deheng HE Jiangtao XI Xugang KANG Yu College of Information Engineering Zhejiang University of TechnologyHangzhou 310023China School of Automation Hangzhou Dianzi UniversityHangzhou 310018China Department of Automation University of Science and Technology of ChinaHefei 230027China

The scheduling and control of a class of wireless networked control system is investigated,whose control loop is closed via a shared IEEE 802.15.4 wireless network. By using a gain scheduler within the packet-based control framework and fitting the delay-dependent gains into a time-delay system model, a less conservative self-triggered approach is proposed to determine the sampling update,which consequently enables the design of two network scheduling algorithms to reduce the communication usage. Numerical and TrueT ime based examples illustrate the effectiveness of the proposed approach in the sense that it reduces greatly the communication usage while maintaining satisfactory control performance.

关键词： IEEE 802.15.4 packet-based control scheduling wireless networked control system

Autonomous multi-drone racing method based on deep reinforcement learning

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Science China(Information Sciences) 2024年第8期67卷 35-48页

作者： Yu KANG Jian DI Ming LI yunbo zhao Yuhui WANG Department of Automation University of Science and Technology of China Institute of Advanced Technology University of Science and Technology of China Institute of Artificial Intelligence Hefei Comprehensive National Science Center College of Automation Engineering Nanjing University of Aeronautics and Astronautics

Racing drones have attracted increasing attention due to their remarkable high speed and excellent maneuverability. However, autonomous multi-drone racing is quite difficult since it requires quick and agile flight in intricate surroundings and rich drone interaction. To address these issues, we propose a novel autonomous multi-drone racing method based on deep reinforcement learning. A new set of reward functions is proposed to make racing drones learn the racing skills of human experts. Unlike previous methods that required global information about tracks and track boundary constraints, the proposed method requires only limited localized track information within the range of its own onboard sensors. Further, the dynamic response characteristics of racing drones are incorporated into the training environment, so that the proposed method is more in line with the requirements of real drone racing scenarios. In addition, our method has a low computational cost and can meet the requirements of real-time racing. Finally, the effectiveness and superiority of the proposed method are verified by extensive comparison with the state-of-the-art methods in a series of simulations and real-world experiments.

关键词： racing drone autonomous multi-drone racing sim-to-real deep reinforcement learning Markov game