Main Projects
1、Autonomous switch control and application
Project From：Outstandingyouth fund of national natural science fund；The nationalnatural science fund project
Project Leader：Zhendong Sun
(1) Achievements
a) Use and develop the internal model principle, considerthe allow contains of polynomial nonlinear general nonlinear systemas the research object,and set up frameworkof transferring the robust output regulation problem into the robust stabilityproblems, based on a nonlinear under the effect of an external system. Theextent to solve the augmented system robust stability problem, determines the extentto solve the original nonlinear system robust output regulation problem.
b) Considering the nonlinear time invariant under the action of an externalsystem, the global robust output regulation problems of output feedback and thelower triangular form nonlinear system, focus on the challenges which arecaused by the nonlinear introduction of the external system robust, effectingthe salvation of the output regulation problem.
(2) Progress
Based on establishingthe general framework, it has studied the global robust output regulationproblem of the output feedback and lower triangular form under the action of thenonlinear outside system. First of all, using the developmental internal modelprinciple to turn the global robust output regulation problem into a globalrobust stability problem, and then integrated using robust stability designtechnologies and adaptive control methods such as small gain theorem、Changingsupply technique and Dissipativity, to resolve the converted global robuststability problems.
(3) Applications
Internal modelprinciple and its nonlinear control in multi-agent system applied in formationcontrol and microelectromechanical system, to solve the high precision robustcontrol problem of multi-agent system formationcontrol and microelectromechanical system.
2、Pattern recognitionand intelligent system
Project From：NSFC[61273249]，
Education department of GuangdongProvince [2012CXZD0008],
Guangzhou branch letter bureau of international cooperationprojects of Science Bureau of Guangzhou [2012J5100001]，
Natural science foundation of Guangdong Province [S2011010005811]
Project Leader：LianfangTian
(1)Achievements
Small operation robot system and itsapplication in biomedical engineering research: At present，Biological engineering operations are basic in the manualor semi-automatic state such as cell microinjection, which restrict thepopularization and application of micro operation technologies.Traditional precision positioningdevice usually has a large volume, high cost and can only along several fixedaxis directions, and its portability is not good. In this context, this studyputs forward based on small machines crowd cell automatic micromanipulationsystem research, uses tiny robot for small size, large range moving andprecision positioning, large load capacity, portability and strong environment adaptabilityetc., combining methods of theoretical analysis and experiment, studies mainlyfor①Based on VCM & PZT hybridmicrocontroller small robot movement mechanism, compensation mode and controlstrategy, and to lay the foundation theoretical basis for microscopic precisionpositioning; ②Establish the microfluidics and cellmovement model, analysis the micro flow produced by cells in the solution and cellposture change mechanism, to provide the theory basis for no contact all-roundcell automatic position control.③Based on macro/microvisual integration of micro machine small crowd precision positioning methodand the coordinated control research, and do the automation microinjectionexperiment of non-contact three-dimensional way cells pose automaticallyadjust.On the basis of the above key technology research, build test bench to dothe experiment for the theory and method which are put forward.
（2）Progress
Agricultural robot and its application research：Thedevelopment of the high automation degree of the mowing machine will become thedevelopment trend of organic weeding.
Mechanical weeding has a high automation degree and good weedingefficiency, and it’s suitable for large weeding area, etc..which has beenwidely used in North America. For paddy field weeding, there is nosuitable weeding robot system into practical for paddy field atpresent.This study propose solar power, uses themodular conception, through simple walking robot in riceseedlings roots and trampling the inter-row weeds, to weed out and cut off weeds;
At the same time, turbidity of mud bywalking robot photosynthesis, restrains the waterweeds photosynthesis, and sedimentary cover on the weeds, destroys the weedsgrowing environment, to achieve the goal of eliminate weeds in rows and betweenplants.
The robot uses leapfrog line mechanism, reduces theturning radius, to greatly improve the effective planting area of paddy field.
Process, the robot skids that caused by a convex concave withinpaddy skid, suppress the car can be recovery through the coordination betweencomposited module function, and realize stable walking in paddy field, moreflexible, which is suitable for large paddy field area, and also suitable forplanting conditions of small organic paddy field weeding.
（3）Applications
Pattern recognitiontechnology research and its application in biomedical image processing: Hearttrauma is a common fatal wounds in the peacetime and war time.Pattern recognition technology research and its application inbiomedical image processing.In order to analyzeand evaluate accurately of the injury severity and location of heart trauma,this study will focus on new technology and methods of heart trauma automatedassessment based on multi-mode medical image information fusion ,
especially how toestablish accurate heart four dimensional data field model and deformationmodel, accurate analyze and evaluate accurately the heart trauma area form andfunction index changes based on the data.
Traumatized heartmovement will occurred diversity changes, it bring huge difficulties to the accurateestablishment and analysis of heart shape variation four dimensional data fielddeformation model, and the accurate analysis of heart trauma form and function.The research make classification, registration and fusion of the single mode andmultiple modules data which is collected in different time points, combinedwith the four dimensional visualization technology, quantitatively calculatesparameters including ventricular volume, radial and vertical extrusioncondition, cursor movement, and describes the whole process of the cardiaccycle movement, to map and establish 4D data field heart body model anddeformation model, analyze the heart trauma region form and function, and realizeautomatic evaluation for the heart trauma injury severity and location, to providestrong evidence for rapid clinical treatment, and give great significance toguide the operation plan and improve the level of heavy trauma treatment.
3、High-endautomatic SMT equipment research and industrialization
Project From:Key project of national natural science funds [6083501]
Industry-university-researchcooperation of Guangdong Province[2009A090100027]
Project Leader：Yueming Hu
(1)Achievements
a)In the visualinformation acquisition and preprocessing of high-end chips and components, usinga variety of nonlinear filtering, geometric invariant moment method to studymulti-objective visual information concurrent access and pretreatmenttechnology in high speed movement environment, and to propose adaptive lightcontrol algorithm based on historical data and learning function and design intelligentadaptive lighting system with strong resist disturbance ability .
b)In high speedand high precision identification and positioning of high-end chips andcomponents, study the intelligent detection and localization algorithm for highspeed and high precision components, and special chip for high speed and highprecision high reliability test methods, propose the new type no template imagerecognition algorithm, and introduce the tools such as modern topologicaltransformation、vector map、 invariant moments to put forward the new intelligent detection andlocalization algorithm under the high speed movement environment. Finally, develop modularizationand the static and dynamic image acquisition and processing system in "DSP+ CPLD" way.
c)On the surface assembly process basedon visual motion control modeling and high precision position/force control, discussvisual servo control algorithm and realization technology from the point ofview of industrial robot with multi-degree of freedom, use mathematical physicstools such as analytical mechanics, establish a dynamics model and simplifiedmodel based on visual inspection signal, random testing process lag andhysteresis of piezoelectric micro displacement sensor, and study the position/force collaborative optimization controlproblem by using methods and applications of nonlinear control and robotics, topropose the high speed and high precision motion/force control method andrealization technology of multitask parallel processing in SMT process.
(2)Progress
a)This research focus onelectronic information manufacturing industry key machine tool、automaticplacement machine、X optical detection apparatus andother high-end SMT equipment and SMT key technologies such as high speed andhigh precision SMT, multi-objective dynamic visual inspection,micro focus X-ray detection, precision mechanical design and processingto make the continuous innovation，developmentand industrialization.
b) Break through the high-end components SMT Keytechnologies:including high speedand high precision multi-axis motion/force control, high speed and highprecision multi-objective dynamic detection, X optical detection, precisionparts design and processing, and other key technology of SMT equipment, to realizethe functions of automatic feeding, automatic positioning and correction,automatic SMT and instrumentation, automatic SMT quality evaluation, automaticdata reporting and internal defects automatic detection in the SMT process, to formthe embedded vision system composed by integrating SMT, printing and detectionwith independent intellectual property rights, in order to solve series ofsupporting industrialization process problems of suitable for various chipcarrier devices and micro electronic component placement, suction nozzle offeeder, head and other precision components processing and installation .
c)Develop high-end fully automatic SMTequipment: including series of high-speed automatic placement machine andinternal defects (AXI) X optical detection equipment which is suitable for thegreat scale integrated circuit chip and related components of high-end SMT andvertical LED instrumentation, with the core technology of independentintellectual property rights, to realize the batch manufacturing and sales, tolet the main detection techniques and placing indexes reach the mainstreammodels international advanced level, and let the stick inserted integrationfunction and LED plug-in speed reach the international leading level.
Series SMTmachine can past in multi-machine parallel and adjust the SMT precision andspeed, etc., and has the functions of bulk vertical LED test separationmaterials, PCB automatic detection on stick- insert quality , etc.
(3)Applications
Use the keyvisual inspection、optimization controlalgorithm and developed system module in independent innovation of high-endautomatic SMT equipment - high-middle speed automatic placement machine and Xoptical detection equipment.
With systemoptimization and innovation design, automatic placement machine has the industryleading sorting material, patch, plug-in, detection and the patch speed andaccuracy on advanced level of the foreign similar type, and the LED plug-inspeed and precision is better than that of special component inserter foreignstandards with widely used in industry.
By studying high-end chip internaldefects detection algorithm, the cooperative enterprise X optical testingequipment from basic PCB SMT quality test to applied to high-end IC assemblydefect detection field, and in the national 02 major projects designatedenterprise production line to achieve the demonstration application. Therefore,this project has made remarkable achievements in the combination of basictheory research and industrial important technical innovation, and played apositive role in improving the level of high-end electronics assemblytechnology in China.
4、Signal sparsecoding, a semi-supervised machine learning and its applications inbrain-machine interface and brain signals analysis
Project From：National outstandingyouth fund projects [60825306]
Project Leader：Yuanqing Li
(1)Achievements
a)Brain signal analysisalgorithms
Under the probability frame, this paper analyzes a necessarycondition between key 0 - norm solution and sparse solution 1 - a necessarycondition of equivalent norm solution, and proves that under this condition,two sparse solution is equal in high probability, which gives the basis usingthis condition a validation criteria.
At the same time, discuss the equivalent probability digital estimateof two sparse solutions, propose sampling method and prove its validit. Furthergives the analysis on the separation performance of fanaticism number based onsparse representation. Relevant papers published in the IEEE on NeuralNetworks. Our work about signal sparse representation in the early period, haswon second prize of national natural science.
b)Brain-ComputerInterface
To use multiple modal methods to realize the brain-computerinterface 2D cursor control and mouse control for the first time in the world. Publishing2 papers in the IEEE Trans On Biomedical Engineering as the research results.
Compared with the present remarkable achievements, the mainadvantages are as below:
1)Two control signals have different mechanism and almost independent;
2)The cursor can from random to random location;
3)The user does not need training for a longtime;
4)Based on characteristics of the multimodal hybrid, to implement the choose function onthe left mouse button with high precision and fast speed.
For the first time in the world, to implementthe web browser based on brain-computer interface mouse; Research and developthe multimodal brain control wheelchair,and for the first time in the world, to let the multi-functional control of thewheelchair including direction, speed, stop, start come true. The wheelchairhas been exhibited many times with wide attention from media, and news networkreported more than 1000 times.
Therelevant 2 papers have been published in SCI Journal IEEE Trans. Neural Sys.& artist. Eng., and the Journal of Neural Engineering, and there are 3patents of it.
published two lengthy, and three patentsauthorized
In 2010, inthe brain-machine interface competition, we won two the first prizes and twice thesecond prizes in four game items.
(2)Progress
Set up sparserepresentation method of series of fMRI signal voxel selection, and havingproved the convergence of the algorithm and the robustness to noise.Thealgorithm can choose almost all voxel with information and classify voxel atthe same time, to reflect the different encoding function of voxel. The
Relevantpapers have been published in the IEEE Trans. On Biomed. Eng.and theinternational authoritative publication PLoS ONE. Our work is still in aleading position, though the articles with this kind of method is more and morein the worldwide.
(3)Applications
Cooperatingwith People Hospital of Guangdong Province, use fMRI study the human visual andauditory information integration mechanism and the human brain neuralmechanisms of face recognition.
FMRIsignal analysis is a method mainly using in decode and sparse representation.The papers are published in international authoritative publication PLoS ONE.
6.Continuous flow green wave coordinate controltechnology
Project From：863program [2006AA11Z211]
The nationalnatural science fund project[50878088],[61174184]
Universitydoctoral fund of the ministry of education [200805610005]
Project Leader：Jianmin Xu
(1)Achievements
a) Technology of traffic control area dynamic partitioning
b)Technology of tidal flow red/green wavecoordinate control
c)The boundary active control technology of insupersaturated state
d)Coordinate control technology of largesttwo-way green wave bandwidth
e)Coordinate control technology of minimumparking/delay
f)Bus signal priority control technology underthe trunk coordination
(2)Applications
a)Coordination control system of Liansheng road of Dongguan Humen（length 3.1km 、9 intersections）：
•The average travel time reduced by more than21%
•Average driving speed increased more than 24%
•The average delay time reduced by 32% for every intersection
•The average parking less 29% for every intersection
b) trafficsignal coordination control optimization of the west Nansha Huanshi Road of Guangzhou（length10 km 、21intersections）:
•The vehicle stopsfrom 19 to 20 times down to 2-3 times in the entire straight road
•Averagestop time reduces more than 68%
•Average delay time reduces more than 73%
•c)Area signal control optimization of the central area in ChenchengFoshan（ road netof the secondary grade city center,61 intersections）：
•Averagestop time reducesabout39% (compared beforeand after coordination )
•Average delay time reduces about 22% (compared beforeand after coordination )
d) Traffic signals coordination control optimization of Baiyun TongtaiRoad of Guangzhou( length 3.2km,12 intersections):
•The vehicle stopsfrom 9 to 10 times down to 2-3 times in the entire straight road
•The travel time of back and forth in the whole section reduces from15min to 10min
e)Traffic signals coordination control optimization of Zhujiang New Townof Tianhe, GZ:
Linjiang avenue（East-west trunk road,4.5km,10 intersections）
•Vehicle stop times reducesfrom 7-8 times to1- 2 times in the whole straight process
Travel the whole road back and forth time reducesfrom 24 minutes to 17 minutes（South-north trunk road,1.2km, 5 intersections）
•
•Vehicle stop times reducesfrom 4-5 times to 1- 2 times in the whole straight process
Travel thewhole roadback and forthtime reduces from 7 minutes to 14 minutes
7、Network feedback system
ProjectFrom：The national natural science foundationproject [61273109]
Key projectof national natural science foundation [60834003]
54th Institute of CETC
Project Leader：Weizhou Su
(1)Achievements
Use the multiplicative noise to model the quantization error and packet loss in the networkfeedback system, and definedthe robust stabilization, optimal tracking, optimal regulation. These problemsare similar to the analysis and design of multiplicative uncertainty system. Our workfirst proved that the output feedback design with input multiplicative noiseminimum phase system is a kind of quasi convex problem with global optimal boundary; And put forward the unified optimization algorithm for corresponding robust stabilization, theoptimal regulation, and the optimal tracking. The quantitative description is proposed on the properties of minimum phase system function which iscaused by channel delay and channel error variance.The 65 meters large aperture antenna in Shanghai observatory is part of the Marsexploration program. Its main task is to ensure that the communicationbetween spacecraftand the ground on real-time. The task has a very high requirements on the antenna servo precision. According to the actual situation of thesystem, we put forward the concrete modeling experiment scheme, and do the simulation verification according to theexperimental data,
On thebasis of this, to propose suppressing the high frequency oscillation and theoptimal tracking algorithm, and to do further simulation calculation according to the experimental data, getting theideal servo controller design plan.
8、Autonomous unmanned systems control
Project From：The national natural science fund project
Key projectof national natural science fund
27th institute of CETC,Changqing oilfield, Administrationof Oceanic of Guangdong
Project Leader：Hailong Pei
(1)Achievements
a)Pollution edge detection mechanism based on the small unmannedhelicopter.Pollution boundary rapid detection and m surveying, based on unmannedaerial vehicle (uav), is a complex trajectory estimation and tracking problem, use unmanned aerial vehicle (uav) to build asensor network estimate boundary location, to design the boundary tracking controller location trajectory to trajectory estimateboundary.
b)Unmanned helicopter model precision identification, for difficultiesand high identification precision of coupling terms recognition experimentdesign in small unmanned helicopter model identification. Using sensitivityanalysis method to design the iterative process, reduce the flight test and improvethe quality of identification
c)Recontrol and its application in the new type of unmannedaerial vehicles thermal ablation and thermal protection theory
Putting forward the method of using system reconfigurationcontrol to solve loading process ofthermal ablation andthermal protection theory of new height aerial vehicles,and change the passive thermalprotection design based on the material.
（2）Applications
Applicationof the small unmanned helicopter in marine supervision and patrol; Earthobservation laser imaging system design based on thesmall unmanned helicopter
9、Network control systems and applications
ProjectFrom：The national naturalscience foundation of China [61174070]，
The Ministryof Education doctoral fund [20110172110033]
Project Leader：Bugong Xu
(1)Achievements
Independently develop wireless sensor and wireless actuatornodes, set up a physics experiment platform, with lighting as the applicationbackground, and achieve the synergy lighting experiment for moving targets inpreliminary;
for wireless sensor/actuator network application in theindustrial environment, build up the remote wireless control system based onwireless industry backbone network. To make in-depth study further on the coordinationwork between wireless sensor and actuator, mainly discuss the problems such asresource allocation, node scheduling and fault diagnosis and so on.
(2)Progress
a) Coordination study sensors – actuators
Discuss the nodes coordination problem of sensors and actuatorsin communication time delay, propose a distributed solution based on systemidentification and gradient descent method, first using the sensor data torebuild the system mode, and on the basis of these, to make compensation of timedelay information and the system state error as actuators collaboration indicators.
Some application scenarios need to move the actuators, just as forestfire monitoring, so we proposes a move actuators deployment scheme, based on systemcontrollability and virtual force algorithm. In the process of actuatormovement, to form the dynamic clusters according to the location information composedby trigger events, sensor nodes and actuator nodes.
b)Distributednegotiation research on actuators- actuators
In order to verify and test the algorithm performance of actuatorsconsultation work in the condition of fixed actuator s case, build up the intelligentlighting system based on wireless sensor/actuator network. According toperformance requirements required by the system, propose a dynamic clustersbased on moving targets and distributed node scheduling algorithm.
Multi-agents convert to the movement of a special kind ofactuator consultation work. We are considering limited bandwidth, communicationtime delay, to propose a distributed convergence protocol and use thefractional motion control strategy at the same time.
The simulation shows that the algorithm can effectively makesure the multi-agents system convergence under limited resources.
仿真表明该算法能有效地保证多智能体系统资源受限下的状态趋同。
(3)Applications
a) Intelligent lighting system
Design and build 16 wireless lamplight nodes, by and large buildthe hardware test platform of intelligent lighting control system, based on wirelesssensor/actuator network. The experimental results show that the platform can quicklydetect target objects and scheduling the corresponding nodes to accomplish acertain synergy lighting work.
b) Wireless industry backbone network
Build the wirelessindustry backbone network, based on wireless sensor/actuator industrialwireless backbone. It uses of the hardware including Siemens S7-300 module, S7-200PLCmodule, EM277 Profibus-DP module, MOXA industrial-class wireless AP/bridge/APclient hardware structures, to contribute the collect information and controlsystem.Through the wireless network, to send fielddata to the PC, the upper machine (PC) sends instruction such as control,query, modify to the PLC, and PLC as control output, to realize the remotewireless control.
