IEEE/CAA JAS Frontier Forum of Automation
Wednesday, July 18, 2018
Venue: National University of Singapore
Kok-Meng Lee, Georgia Institute of Technology, USA
Title: Development of Intelligent Unmanned Aerial Systems and
Ben M.Chen, National University of Singapore, Singapore
Title: Cooperative Localization and Control of Multi-robot Systems
Lihua Xie, Nayang Technological University, Singapore
Title: Natural Oscillation Gait in Humanoid Biped Locomotion
Zhiyong Chen, The University of Newcastle, Australia
Title: Control of Walking-Aid Robot Based on Motion Intention/State Sensing
Jian Huang, Huazhong University of Science and Technology, China
Thursday, July 19, 2018
Venue: National University of Singapore
Qinglong Han, Swinburne University of Technology, Australia
Chun-Yi Su, Concordia University, Canada
Title: Event-triggered control design and its applications
Dong Yue, Nanjing University of Posts and Telecommunication, China
Yuanqing Xia, Beijing Institute of Technology, China
Rongxin Cui, Northwest Polytechnic University, China
Ben M. Chen, Professor & Provost’s Chair, Department of Electrical and Computer Engineering, National University of Singapore
Development of Intelligent Unmanned Aerial Systems and Their Applications
In this talk, we aim to report some advanced unmanned aerial systems (UAS) recently developed by the Unmanned Systems Research Group at the National University of Singapore. Attention is particularly paid to UAS, which is capable of navigating through in cluttered indoor and outdoor GPS-denied environments, such as hostile buildings, sewer tunnels, radiation contaminated areas and inside forests. Topics under studied include dynamic modeling of an unmanned helicopter, advanced flight control system design, multi-sensory data fusion, real-time simultaneous localization and mapping, and dynamic path planning in unknown environments. We will particularly showcase the development of an unconventional hybrid aircraft, which has the capability of taking off and landing vertically, and transiting to a fixed-wing mode for fast cruise flight. We will also take this opportunity to present some techniques that we have recently developed for the 2017 International Micro Air Vehicles Competition, held in Toulouse, France, September 2017. The real industrial applications of the drones for deep tunnel inspection and warehouse inventory counting will be highlighted in the talk as well.
Short Bio: Ben M. Chen is currently a Professor and Provost’s Chair in the Department of Electrical and Computer Engineering, National University of Singapore. He is also serving as the Director of NUS ECE Control, Intelligent Systems and Robotics Area. His current research interests are in unmanned systems, robust control, control applications, and financial market modeling.
Dr. Chen is an IEEE Fellow. He has published more than 400 journal and conference articles, and a dozen research monographs including Robust and H∞ Control (Springer, New York, 2000), Hard Disk Drive Servo Systems (Springer, 1st Edition, 2002; 2nd Edition, New York, 2006), Linear Systems Theory (Birkhäuser, Boston, 2004), Unmanned Rotorcraft Systems (Springer, New York, 2011), and Stock Market Modeling and Forecasting (Springer, New York, 2013). He had served on the editorial boards of several international journals including IEEE Transactions on Automatic Control, Systems & Control Letters, and Automatica. He currently serves as an Editor-in-Chief of Unmanned Systems.
Dr. Chen has received a number of research awards nationally and internationally. His research team has actively participated in international UAV competitions, and won quite a few championship awards in the contests, including very recent ones – the indoor competition champion and the outdoor competition champion at the 2017 International Micro Air Vehicles Competition, held in Toulouse, France, September 2017.
Lihua Xie, Professor, School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore
Cooperative Localization and Control of Multi-robot Systems
Multiple cooperating robots are able to complete many tasks more efficiently and reliably than one robot alone. Multi-robot systems involve multi-disciplinary research ranging from platform design, sensing and perception, data fusion, localization, task assignment, path planning, communication and networking, control and coordination, and fleet management. There has been a lot of research on multi-agent systems in recent years. However, there exists a significant gap between theoretical research and practice. In this talk, we shall focus on cooperative localization and control of multi-robot systems in GPS denied environments. In particular, we shall introduce recently developed distance based cooperative localization including consensus based approach and graph optimization based approach, leveraging on UWB technologies. We shall also discuss simultaneous relative localization and formation control of multi-robot systems, and demonstrate their applications in unmanned ground and aerial vehicles.
Short Bio: Lihua Xie received the B.E. and M.E. degrees in electrical engineering from Nanjing University of Science and Technology in 1983 and 1986, respectively, and the Ph.D. degree in electrical engineering from the University of Newcastle, Australia, in 1992. He was a faculty with the Department of Automatic Control, Nanjing University of Science and Technology from 1986 to 1989. Since 1992, he has been with the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore, where he is currently a professor and the Director of the Delta-NTU Corporate Laboratory for Cyber-Physical Systems. He served as the Head of Division of Control and Instrumentation from July 2011 to June 2014. His research areas include robust control, networked control, compressive sensing, localization and unmanned systems. He has been listed as a highly cited researcher by Thomson Routers and Clarivate Analytics since 2014. He is currently an Editor-in-Chief of Unmanned Systems and Associate Editor of IEEE Transactions on Control of Network Systems. He has served as an Editor of IET Book Series on Control and Associate Editor of IEEE Transactions on Automatic Control, IEEE Transactions on Control Systems Technology, Automatica, IEEE Transactions on Circuits and Systems-II, etc. He is Fellow of IEEE, Fellow of IFAC, and an elected member of the Board of Governors of IEEE Control System Society.
Zhiyong Chen, Professor, School of Electrical Engineering and Computing, The University of Newcastle , Australia
Natural Oscillation Gait in Humanoid Biped Locomotion
Abstract: Biped locomotion is complex to analyze in general. Most of the models in literature for biped locomotion utilize hybrid dynamics.This makes the kinematics of the model simple to understand. However,it makes the model difficult to analyze in the presence of discontinuous terms in its differential equations. In this talk, we discuss a continuous-time mathematical model for biped robots,modelling the discontinuities in impact with a nonlinear function.Natural oscillation is defined as a free response under damping compensation to achieve persistent oscillation. The phenomenon of natural oscillation was previously exploited in the linear dynamics of multi-segmental locomotor, and it is now extended to this continuous-time biped locomotion model with the contact force from the ground modelled as a nonlinear bump function. The idea of natural oscillation is preceded by a complete framework on analysis and entrainment control. The research would ensure that these natural oscillations are responsible for forward locomotion of biped robots under certain conditions. The locomotion profile of the bipeds further validates the model that the velocity achieved through the natural oscillation is comparable to human jogging speeds, when practical constraints are enforced.
Bio: Zhiyong Chen received his Bachelor degree from the Department of Automation, University of Science and Technology of China in 2000. He received his M.Phil. and Ph.D. degrees from the Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, in 2002 and 2005, respectively. He worked as a Research Associate at the University of Virginia during 2005-2006. He joined the School of Electrical Engineering and Computing, the University of Newcastle, Australia in 2006 where he is currently a Full Professor.He was elected to Changjiang Scholar Chair Professorship with Central South University in 2016. He is also holding a Chair Professorship with Huazhong University of Science and Technology. He is an author of over 80 journal papers and one textbook. He was/is a Chief/Principal Investigator of three projects supported by Australian Research Council and two major projects supported by National Natural Science Foundation of China. He was/is an Associate Editor for many top tier journals including IEEE Transactions on Automatic Control,IEEE Transactions on Cybernetics, IFAC Mechatronics, Systems and Control Letters, and International Journal of Robust and Nonlinear Control. He received the Best PhD Thesis Award of the Year 2015 from the Faculty of Engineering, CUHK. He is the recipient of National Natural Science Award of China (second prize) in 2010, and several international conference best paper awards.
Jian Huang, Professor, School of Automation, Huazhong University of Science and Technology, China
Control of Walking-Aid Robot Based on Motion Intention/State Sensing
Abstract: The mobility of elderly degrades with age, which affects not only their daily life, but also the life quality and causes dependence of other in their daily life. The walking-aid robot which applies robotic technologies can help the elderly to restore the ability of walking, get the chance of independent and improve the quality of their life, which are very important to the rehabilitation care system of forthcoming elderly society.
Recognizing the user’s walking intention plays an important role in the motion control of walking-aid robots. To quantitatively describe the user’s walking intention, a concept called “intentional direction (ITD)” is proposed. Both the state model and the observation model of ITD are obtained by enumerating the possible walking modes and analyzing the relationship between the human–robot interaction force and the walking intention. The user’s walking intention can be online estimated using the filtering techniques. Based on the estimated intention, a new admittance motion control scheme is proposed for the walking-aid robot.
The walking state monitoring is also indispensable during using the robot-aided walking. We verified the existence of human-robot coordination state in the process of using a walking-aid robot during walking. A new walking state monitoring method is proposed by using the Principal Component Analysis (PCA). The abnormal or emergency walking state is promptly detected if the new sample data is found to deviate from an off-line PCA model, which is generated from plentiful normal walking data of different subjects. Further, a state diagnosis algorithm based on the contribution plot is also developed for the walking state recognition and diagnosis. In this way, typical abnormal states like the leg restrictions can be distinguished from the emergency states including falls and the stumbling.
The effectiveness of proposed method is validated by experiments. The result shows that the user feels more natural and comfortable when our intention-based admittance control is applied. Better recognition rate and real-time performance of the walking-state monitoring method is also verified by comparing with conventional Center of Pressure (COP)-based monitoring method.
Bio: Jian Huang graduated from Huazhong University of Science and Technology (HUST), China in 1997 and received the Master of Engineering degree from HUST in 2000. He received his Ph.D from HUST in 2005. From 2006 to 2008, he was a postdoctoral researcher in the Department of Micro-Nano System Engineering and Department of Mechano-Informatics and Systems, Nagoya University, Japan. In 2015, he was a research fellow in Nagoya University supported by JSPS invitation fellowship. He is currently a full professor with the School of Automation, HUST. He is also a guest professor in Nagoya University of Japan and University Paris-Est Créteil (UPEC) of France. His main research interests include rehabilitation robot, robotic assembly, networked control systems and bioinformatics.
He is an IEEE Senior Member and has published more than 170 papers (including 16 research articles in several IEEE Transactions and more than 50 conference papers in many IEEE conferences). Currently he serves as the editor of ROBOMECH Journal – Springer.
He has got 12 authorized patents, the grand prize of science and technology award of China General Chamber of Commerce and was awarded golden medal at Geneva Inventions in 2017.
Dong Yue, Professor, Institute of Advanced Technology and College of Automation, Nanjing University of Posts and Telecommunications
Event-triggered control design and its applications
Bio: Dong Yue received the Ph.D. degree from the South China University of Technology, Guangzhou, China, in 1995.He is currently a professor and dean of the Institute of Advanced Technology and College of Automation, Nanjing University of Posts and Telecommunications and also a Changjiang Professor with the Department of Control Science and Engineering, Huazhong University of Science and Technology. He is currently an Associate Editor of the IEEE Control Systems Society Conference Editorial Board and also an Associate Editor of the IEEE Transactions on Neural Networks and Learning Systems, the Journal of the Franklin Institute and the International Journal of Systems Science. Up to now, he has published more than 100 papers in international journals. His research interests include analysis and synthesis of networked control systems, multi-agent systems, optimal control of power systems, and internet of things.