无人机控制站通用软件平台设计

针对无人机控制站难以与多型无人机互联互通的问题，从通用控制软件的角度开展研究，分析了设计需求，提出了一种采用平台+插件的软件架构，并分析了软件架构、基于XML技术的帧格式信号和参数信息描述、动态报文解析和组包、软件界面定制等关键技术。在车载控制站和便携控制站的工程验证表明，所提解决方案实现了对多型无人机的控制，具有良好的通用性、扩展性，并支持用户自定义对外通信协议和人机交互功能、界面。     

Robust predictive extended state observer for a class of nonlinear systems with time-varying input delay

ABSTRACT

This paper deals with asymptotic stabilisation of a class of nonlinear input-delayed systems via dynamic output feedback in the presence of disturbances. The proposed strategy has the structure of an observer-based control law, in which the observer estimates and predicts both the plant state and the external disturbance. A nominal delay value is assumed to be known and stability conditions in terms of linear matrix inequalities are derived for fast-varying delay uncertainties. Asymptotic stability is achieved if the disturbance or the time delay is constant. The controller design problem is also addressed and a numerical example with an unstable system is provided to illustrate the usefulness of the proposed strategy.     

Domestic demand-side response with heat pumps: controls and tariffs

ABSTRACT

Electric heat pumps feature prominently in projected energy transitions in the UK and elsewhere. Owing to their high electricity consumption, heat pumps are viewed as important targets for demand-side response (DSR). Findings are presented from a field trial of a new control system that aims to optimize heat pump performance, including under time-varying tariff conditions. The trial involved monitoring 76 properties with heat pumps, but without dedicated heat storage; 31 of these received the control system. Interviews were conducted with a subsample of 12 participants. The controller successfully evened out electricity demand over the day (reducing the evening peak), but this was associated with increased late night and daytime temperatures. Interview participants reported some disturbance owing to overnight heating and noise, as well as usability issues with the controller interface and hardware. These issues present risks to the future acceptability of such systems. While the system delivered short-term demand reductions successfully, longer-term demand shifting risked causing unacceptable disturbance to occupants. Future control systems could overcome some of the issues identified in this pioneering trial through more effective zoning, using temperature caps or installing dedicated heat storage, but these may either limit the available flexibility or be challenging to achieve.     

Robust orientation control of multi‐DOF cell based on uncertainty and disturbance estimation

Multiple degrees‐of‐freedom (multi‐DOF) cell orientation control is a vital important technique involved in single cell surgery applications. Currently, few studies have been performed toward automation of multi‐DOF cell orientation control using robotically controlled optical tweezers. In this paper, a robust control framework is developed to perform multi‐DOF cell rotational control with consideration of model uncertainties and external disturbances. Both simulation and experimental studies are presented to illustrate the performance of the proposed control strategy. The main contributions of this work lie in that this is the first time to develop a unified framework to achieve multi‐DOF cell orientation control without the need for accurate dynamic model parameters and/or any knowledge about uncertainty characteristic, which greatly enhances the robustness of the overall system.     

基于UG的采煤机防爆盖板三维标注及数控工艺研究

随着三维CAD技术的发展,产品制造信息在三维模型和二维图纸之间的反复传递,严重影响了产品制造信息的正确、快速传递。基于三维产品制造信息技术,以采煤机防爆盖板为例,在UG NX10.0中建立了防爆盖板的三维模型并进行了三维标注,设计了加工工艺路线,规划了数控加工刀具轨迹,进行了加工仿真,验证了数控加工的正确性,在此基础上完成了采煤机防爆盖板的三维工艺式设计。该研究对基于模型定义的数字化设计与制造研究,实现制造业信息化具有重要意义。     

Individual-based multi-objective optimal structured treatment interruption for HIV infection

In this paper, based on the measurable quantities from an individual patient that has infection to human immunodeficiency virus (HIV) and his/her condition is near to acquired immune deficiency syndrome (AIDS), individual-based multi-objective optimal treatments have been proposed. Firstly, the most effective parameters of the patient in computing Long-term non-progressor (LTNP) equilibrium are derived using global sensitivity analysis (GSA). To accomplish GSA effectively, Latin hypercube sampling (LHS) and partial rank correlation coefficients (PRCC) are utilized to rank each of the parameters based on each state of the 5-dimensional model. Then, these results are used by Dempster–Shafer (D–S) evidence theory (DSET) to rank the most effective parameters comprehensively. Now, these effective identified parameters are estimated using extended Kalman filter (EKF), which its covariance matrices are optimized based on particle swarm optimization (PSO) algorithm. Thus, the proposed methodology gives a calibrated model corresponding to the individual patient. Based on this calibrated model, the LTNP equilibrium related to the individual patient is derived. Using the derived individual-based LTNP equilibrium optimal structured treatment interruption (STI) strategies are extracted by defining suitable multi-objective optimization problem and solving it through using non-dominated sorting genetic algorithm-II (NSGA-II). The results demonstrate that the proposed optimal treatments are able to effectively reach LTNP equilibrium with using the minimum and maximum drug usage of 3.6% and 35.1% of full drug usage treatment. Meanwhile, the different optimal treatments give the decision-makers enough flexibility to choose the suitable treatment based on existing facilities and necessities.     

基于强化学习的数据驱动最优镇定控制及仿真

利用Q-学习算法,针对模型未知只有数据可用的非线性被控对象,解决最优镇定控制问题.由于状态空间和控制空间的连续性,Q-学习只能以近似的方式实现.因此,文中提出的近似Q-学习算法只能获得一个次优控制器.尽管求得的控制器只是次优,但是仿真研究表明,对于强非线性被控对象,相比线性二次型调节器和深度确定性梯度下降方法,文中方法的闭环吸引域更宽广,实际指标函数也更小.     

基于ATP-ABE的访问控制方案

对访问控制机制中存在的安全性和有效性的问题进行了研究，提出了基于访问树剪枝的属性加密ATP-ABE（Access Tree Pruning Attribute Based Encryption）的访问控制方案。当ATP-ABE算法需要访问它的树型结构访问策略时，通过剪枝处理访问树结构中包含用户ID属性节点的分支，提高了用户所有者DO（Data Owner）管理和控制属性的效率，更加有效地实现了数据共享。还为访问树结构设计了许可访问属性，使DO仍保留共享数据的关键属性，并且能够完全控制它们的共享数据。基于决策双线性密钥交换算法DBDH（Decisional Bilinear Diffie-Hellman）假设分析了ATP-ABE方案的安全性，研究结果表明与两种经典ABE方案比较，ATP-ABE更加有效地减少了算法的系统设置、私钥生成、密文大小、用户属性撤销以及加解密过程中的计算开销，并给出了定量结论。     

Adaptive neural network command filtered backstepping control of pure‐feedback systems in presence of full state constraints

An adaptive neural network (NN) command filtered backstepping control is proposed for the pure‐feedback system subjected to time‐varying output/stated constraints. By introducing a one‐to‐one nonlinear mapping, the obstacle caused by full stated constraints is conquered. The adaptive control law is constructed by command filtered backstepping technology and radial basis function NNs, where only one learning parameter needs to be updated online. The stability analysis via nonlinear small‐gain theorem shows that all the signals in closed‐loop system are semiglobal uniformly ultimately bounded. The simulation examples demonstrate the effectiveness of the proposed control scheme.     

Motion control of underactuated linkage robot based on gymnastic skill

In this paper, a reproduction of a swing‐up and a giant swing motion of underactuated robots based on technique of the horizontal bar gymnast is discussed with focusing on an equivalent center of mass (ECM) of underactuated robots and the gymnast. At first, the behaviors of the ECM of the gymnast (ECMG) are analyzed by using a motion capturing technique and an efficient motion of the ECMG for the swing‐up and for the giant swing motion are identified from analysis results, respectively. Next, a partial linearization method, which can realize that the ECM of the Acrobot (ECMA) replicates this efficient motion, is designed and reproduces the underactuated robots the swing‐up and giant swing motion like the gymnast. Finally, an effectiveness of the proposed controller is shown by numerical simulations.