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Real-time mobile robot teleoperation via Internet based on predictive control

WANG Shihua, XU Bugong, WANG Shihua, ZHOU Yeming, LIU YunHui

《机械工程前沿（英文）》 2008年第3卷第3期页码 299-306 doi: 10.1007/s11465-008-0049-7

摘要： A remote control system that can control a mobile robot in real time via the internet is proposed. To compensate for the network delay and counteract its impact on the teleoperation system, a predictive control scheme based on the modified Smith predictor proposed is selected. To ensure the stability and transparency of the system, a dynamic model manager is designed based on the information exchange between the sensors at the master and slave sides. To precisely predict the time delay, a new timer synchronization algorithm is proposed. To decrease delay- jitter, a new data buffer scheme is performed. Force feedback and a virtual predictive display are introduced to enhance the real-time efficiency of teleoperation. The usefulness and effectiveness of the proposed method and system are proven by teleoperation experiments via the internet over a long distance.

关键词： predictive feedback virtual predictive distance synchronization algorithm

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Multi-timescale optimization scheduling of interconnected data centers based on model predictive control

《能源前沿（英文）》 doi: 10.1007/s11708-023-0912-6

摘要： With the promotion of “dual carbon” strategy, data center (DC) access to high-penetration renewable energy sources (RESs) has become a trend in the industry. However, the uncertainty of RES poses challenges to the safe and stable operation of DCs and power grids. In this paper, a multi-timescale optimal scheduling model is established for interconnected data centers (IDCs) based on model predictive control (MPC), including day-ahead optimization, intraday rolling optimization, and intraday real-time correction. The day-ahead optimization stage aims at the lowest operating cost, the rolling optimization stage aims at the lowest intraday economic cost, and the real-time correction aims at the lowest power fluctuation, eliminating the impact of prediction errors through coordinated multi-timescale optimization. The simulation results show that the economic loss is reduced by 19.6%, and the power fluctuation is decreased by 15.23%.

关键词： model predictive control interconnected data center multi-timescale optimized scheduling distributed power supply landscape uncertainty

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The CatMath: an online predictive platform for thermal + electrocatalysis

《化学科学与工程前沿（英文）》 2023年第17卷第12期页码 2156-2160 doi: 10.1007/s11705-023-2371-3

摘要： The catalytic volcano activity models are the quantified and visualized tools of the Sabatier principle for heterogeneous catalysis, which can depict the intrinsic activity optima and trends of a catalytic reaction as a function of the reaction descriptors, i.e., the bonding strengths of key reaction species. These models can be derived by microkinetic modeling and/or free energy changes in combination with the scaling relations among the reaction intermediates. Herein, we introduce the CatMath—an online platform for generating a variety of common and industrially important thermal + electrocatalysis. With the CatMath, users can request the volcano models for available reactions and analyze their materials of interests as potential catalysts. Besides, the CatMath provides the function of the online generation of Surface Pourbaix Diagram for surface state analysis under electrocatalytic conditions, which is an essential step before analyzing the activity of an electrocatalytic surface. All the model generation and analysis processes are realized by cloud computing via a user-friendly interface.

关键词： CatMath catalysis volcano activity plots Surface Pourbaix Diagrams online platform

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Extended model predictive control scheme for smooth path following of autonomous vehicles

《机械工程前沿（英文）》 2022年第17卷第1期页码 4-4 doi: 10.1007/s11465-021-0660-4

摘要： This paper presents an extended model predictive control (MPC) scheme for implementing optimal path following of autonomous vehicles, which has multiple constraints and an integrated model of vehicle and road dynamics. Road curvature and inclination factors are used in the construction of the vehicle dynamic model to describe its lateral and roll dynamics accurately. Sideslip, rollover, and vehicle envelopes are used as multiple constraints in the MPC controller formulation. Then, an extended MPC method solved by differential evolution optimization algorithm is proposed to realize optimal smooth path following based on driving path features. Finally, simulation and real experiments are carried out to evaluate the feasibility and the effectiveness of the extended MPC scheme. Results indicate that the proposed method can obtain the smooth transition to follow the optimal drivable path and satisfy the lateral dynamic stability and environmental constraints, which can improve the path following quality for better ride comfort and road availability of autonomous vehicles.

关键词： autonomous vehicles vehicle dynamic modeling model predictive control path following optimization algorithm

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machine-learning-based system identification of dynamical systems under control: application towards the model predictive

《化学科学与工程前沿（英文）》 2022年第16卷第2期页码 237-250 doi: 10.1007/s11705-021-2058-6

摘要： Advanced model-based control strategies, e.g., model predictive control, can offer superior control of key process variables for multiple-input multiple-output systems. The quality of the system model is critical to controller performance and should adequately describe the process dynamics across its operating range while remaining amenable to fast optimization. This work articulates an integrated system identification procedure for deriving black-box nonlinear continuous-time multiple-input multiple-output system models for nonlinear model predictive control. To showcase this approach, five candidate models for polynomial and interaction features of both output and manipulated variables were trained on simulated data and integrated into a nonlinear model predictive controller for a highly nonlinear continuous stirred tank reactor system. This procedure successfully identified system models that enabled effective control in both servo and regulator problems across wider operating ranges. These controllers also had reasonable per-iteration times of ca. 0.1 s. This demonstration of how such system models could be identified for nonlinear model predictive control without prior knowledge of system dynamics opens further possibilities for direct data-driven methodologies for model-based control which, in the face of process uncertainties or modelling limitations, allow rapid and stable control over wider operating ranges.

关键词： nonlinear model predictive control black-box modeling continuous-time system identification machine learning industrial applications of process control

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Monitoring checkpoint inhibitors: predictive biomarkers in immunotherapy

Min Zhang, Jingwen Yang, Wenjing Hua, Zhong Li, Zenghui Xu, Qijun Qian

《医学前沿（英文）》 2019年第13卷第1期页码 32-44 doi: 10.1007/s11684-018-0678-0

摘要：

Immunotherapy has become the fourth cancer therapy after surgery, chemotherapy, and radiotherapy. In particular, immune checkpoint inhibitors are proved to be unprecedentedly in increasing the overall survival rates of patients with refractory cancers, such as advanced melanoma, non-small cell lung cancer, and renal cell carcinoma. However, inhibitor therapies are only effective in a small proportion of patients with problems, such as side effects and high costs. Therefore, doctors urgently need reliable predictive biomarkers for checkpoint inhibitor therapies to choose the optimal therapies. Here, we review the biomarkers that can serve as potential predictors of the outcomes of immune checkpoint inhibitor treatment, including tumor-specific profiles and tumor microenvironment evaluation and other factors.

关键词： immune checkpoint companion diagnosis PD-L1 tumor mutation burden immune score

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Abnormal glycosylated hemoglobin as a predictive factor for glucose metabolism disorders in antipsychotic

XU Leping, JI Juying, DUAN Yiyang, SHI Hui, ZHANG Bin, SHAO Yaqin, SUN Jian

《医学前沿（英文）》 2007年第1卷第3期页码 316-319 doi: 10.1007/s11684-007-0061-z

摘要： The aim of this study was to observe the changes in glucose metabolism after antipsychotic (APS) therapy, to note the influencing factors, as well as to discuss the relationship between the occurrence of glucose metabolism disorders of APS origin and abnormal glycosylated hemoglobin (HbAc) levels. One hundred and fifty-two patients with schizophrenia, whose fasting plasma glucose (FPG) and 2-h plasma glucose (2hPG) in the oral glucose tolerance test (2HPG) were normal, were grouped according to the HbAc levels, one normal and the other abnormal, and were randomly enrolled into risperidone, clozapine and chlorpromazine treatment for six weeks. The FPG and 2hPG were measured at the baseline and at the end of the study. In the group with abnormal HbA1c and clozapine therapy, 2HPG was higher after the study [(9.5±1.8) mmol/L] than that before the study [(7.2±1.4) mmol/L] and the difference was statistically significant (〈0.01). FPG had no statistically significant difference before and after the study in any group (〉0.05). HbAc levels and drugs contributing to 2HPG at the end of study had statistical cross-action (〈0.01). In the abnormal HbAc group, 2HPG after the study was higher in the clozapine treatment group [(9.5±1.8) mmol/L] than in the risperidone treatment group [(7.4±1.7) mmol/L] and the chlorpromazine treatment group [(7.3±1.6) mmol/L]. The differences were statistically significant (〈0.01). In the normal HbAc group there was no statistically significant difference before and after the study in any group (〉0.05). 2HPG before [(7.1±1.6) mmol/L] and after the study [(8.1±1.9) mmol/L] was higher in the abnormal HbAc group than in the normal HbAc group [(6.2±1.4) mmol/L (6.5±1.4) mmol/L] with the difference being statistically significant (〈0.01 〈0.001). As compared with normal HbAc group, the relative risk (RR) of glucose metabolism disease occurrence was 4.7 in the abnormal HbAc group with the difference being statistically significant (〈0.001). Patients with abnormal HbAc are more likely to have a higher risk of having glucose metabolism disorders after APS treatment.

关键词： significant difference occurrence hemoglobin risperidone treatment abnormal

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The predictive value of chromosome 8p deletion for metastasis of hepatocellular carcinoma: a summary

QIN Lunxiu, TANG Zhaoyou, GUAN Xinyuan, YE Qinghai, JIA Huliang, REN Ning

《医学前沿（英文）》 2008年第2卷第3期页码 211-215 doi: 10.1007/s11684-008-0041-y

摘要： Hepatocellular carcinoma (HCC) represents an extremely poor prognostic cancer, which is mainly due to the high frequency of metastasis/recurrence after surgical operation. Exploring the molecular mechanisms involved in HCC metastasis could be helpful in the prediction and early diagnosis of HCC recurrence and could also provide new therapeutic targets for HCC metastasis. In the recent decade, we analyzed the genomic aberrations of the clinical specimens, as well as the metastatic models and cell lines of human HCC to identify the genetic markers related to HCC metastasis and to verify their clinical values in the prediction and control of metastasis of HCC. Using the comparative genomic hybridization (CGH) technique, we compared the differences of chromosomal aberrations between primary HCC tumors and their matched metastatic lesions, and found that chromosome 8p deletions might contribute to HCC metastasis. This novel finding was further confirmed by comparison between nude mice models of HCC with different metastatic potentials. By the more sensitive genome-wide microsatellite analysis, 8p deletion was defined to 8p23.3 and 8p11.2, which are two likely regions harboring metastasis-related genes of HCC. Using ‘8p-specific’ microarrays, two novel metastatic suppressors ( and ) were identified, and were proven to suppress invasion and metastasis of HCC. Clinical studies indicate that 8p deletion detected in HCC or circulating plasma DNA of patients is a useful predictor for metastatic recurrence and prognosis, even for patients with early stage HCC. These novel findings are regarded as important advances in the study of the molecular mechanisms of HCC metastasis, which provide not only a holistic view on the molecular cytogenetic bases of HCC metastasis, but also candidate regions for further study to identify metastatic suppressor genes.

关键词： sensitive genome-wide prediction genome-wide microsatellite frequency Hepatocellular carcinoma

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大型地下洞室群开挖的施工预测解析与信息化管理

汪易森,刘斯宏

《中国工程科学》 2007年第9卷第3期页码 35-40

摘要：

介绍了天荒坪抽水蓄能电站地下厂房洞室群施工预测解析与信息化施工管理的工程实例。工程开工后完全模拟洞室的开挖实况，进行了三维弹塑性有限元计算分析，预测了洞室开挖过程中围岩应力、位移和屈服范围的变化规律。根据计算结果及施工现场的观测结果，及时修正调整了施工期的支护参数，确保了工程的顺利完成。

关键词：地下洞室群施工预测解析信息化施工管理支护设计

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飞航导弹高精度自适应预测控制设计

孙明玮,陈增强,袁著祉,任强,杨明

《中国工程科学》 2005年第7卷第10期页码 23-27

摘要：

飞航导弹的飞行主要是通过姿态稳定与调节来实现的。通过以小扰动模型为基础的导弹动力学特性分析，建立了导弹姿态控制回路的串级控制结构，并且以离散模型作为基于递推最小二乘法的自适应预测控制的被控对象，把原先响应较慢的质心控制转换为反应较快而且精度高的弹道角控制。根据导弹的特性，在姿态内回路采用广义预测控制，在弹道外回路采用一种积分形式的预测控制。在参考信号上，实现了质心指令到弹道指令的有效变换，为高精度小超调跟踪奠定了基础。这种方法实现了姿态参考信号与导引指令的统一，姿态控制与质心控制的统一，充分降低了对气动等数据的精度要求，参数选择简单。数值仿真结果说明了这种方法的有效性；提出了进一步的研究方向。

关键词：飞航导弹自适应控制模型预测控制鲁棒性

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基于频域的PID广义预测控制器的鲁棒性分析

王繁珍,陈增强,姚向峰,袁著祉

《中国工程科学》 2006年第8卷第10期页码 66-70

摘要：

推导了PID广义预测控制器(PID-GPC)的闭环反馈结构, 采用小增益定理获得了存在建模误差(MPM)情况下PID-GPC鲁棒稳定的一个充分条件。然后在频域内分析了PID-GPC控制器的参数选择对其鲁棒性的影响。

关键词：预测控制鲁棒性频域小增益定理 PID控制

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用于灵敏快速测量超阻隔渗透的预测仪器 Article

完颜剑峰, 曹坤, 陈志平, 李云, 刘晨曦, 吴润卿, 张晓东, 陈蓉

《工程（英文）》 2021年第7卷第10期页码 1461-1470 doi: 10.1016/j.eng.2021.02.017

摘要：

测量柔性有机显示器件对水蒸气的高阻隔性，是确保其可靠性所面临的重大工程挑战。一方面，目前缺少10^-6 g·m^-2·d^-1量级的水渗透率测试手段；另一方面，目前也没有标准的超阻隔样品用于渗透率测量的校准。为了对渗透过超阻隔材料的痕量水蒸气流量进行高灵敏、短周期测量，本文将渗透模型集成至基于渗透分子动态积累、检测和抽空的高灵敏质谱测量中，从而开发出了一种具有预测功能的测量仪器。通过使用标准聚合物样品进行校准，确保了测量结果的可靠性。校准后的水蒸气渗透检测下限在10^-7g·m^-2·d^-1量级，满足超阻隔渗透的测量灵敏度要求。本文利用渗透实验数据对所开发的预测渗透模型进行了测试评估，使得利用非稳态数据预测稳态渗透率成为可能，实现在更短的时间内有效开展超阻隔测量。

关键词：水蒸气渗透超阻隔预测模型四极杆质谱仪

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HVAC系统的模糊预测函数控制器设计

吕红丽,贾磊,王雷,高瑞

《中国工程科学》 2006年第8卷第9期页码 65-68

摘要：

针对暖通空调HVAC系统中由于存在高度非线性、时变特征以及扰动和不确定性等因素而难以控制的特点，提出基于Takagi-Sugeno(T-S)模糊模型的预测函数控制器设计方法。该方法通过最小二乘辨识算法建立系统的模糊T-S模型，然后基于模糊全局线性化预测模型，采用预测函数控制算法设计系统控制律。仿真实验结果表明该算法是一种跟踪性能好、鲁棒性强的有效控制方法。与常规的PID控制器相比，该方法具有超调量小、调整时间短等优良的动态性能。

关键词： T-S模糊模型预测函数控制最小二乘算法 HVAC系统

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基于模型预测控制的多微电网系统能量管理 None

Ke-yong HU, Wen-juan LI, Li-dong WANG, Shi-hua CAO, Fang-ming ZHU, Zhou-xiang SHOU

《信息与电子工程前沿（英文）》 2018年第19卷第11期页码 1340-1351 doi: 10.1631/FITEE.1601826

摘要：为降低多微电网能量管理优化算法计算复杂度，提出一种基于模型预测控制能量优化管理方法。首先，采用分解协调实现供需平衡，协调多微电网系统剩余能量，使供电成本最小化。然后，根据多微电网潮流特性，建立能量管理模型并提出能量优化问题。接着，采用对偶分解法将优化问题分为两部分，引入基于全局优化的分布式预测控制算法，经过算法迭代与协调实现最优解。仿真结果表明，该方法能实时向用户提供所需能源，提高可再生能源利用率。此外，与粒子群算法（particle swarm optimization，PSO）进行比较。比较结果表明，该算法具有更好性能、更快收敛速度和更高效率。

关键词：微电网；能源管理；预测控制；可再生能源；可控能源

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多目标自适应优化模型预测控制——降低氧化锌回转窑的碳排放 Article

Ke Wei, Keke Huang, Chunhua Yang, Weihua Gui

《工程（英文）》 2023年第27卷第8期页码 96-105 doi: 10.1016/j.eng.2023.01.017

摘要：

The zinc oxide rotary kiln, as an essential piece of equipment in the zinc smelting industrial process, is presenting new challenges in process control. China's strategy of achieving a carbon peak and carbon neutrality is putting new demands on the industry, including green production and the use of fewer resources; thus, traditional stability control is no longer suitable for multi-objective control tasks. Although researchers have revealed the principle of the rotary kiln and set up computational fluid dynamics (CFD) simulation models to study its dynamics, these models cannot be directly applied to process control due to their high computational complexity. To address these issues, this paper proposes a multi-objective adaptive optimization model predictive control (MAO-MPC) method based on sparse identification. More specifically, with a large amount of data collected from a CFD model, a sparse regression problem is first formulated and solved to obtain a reduction model. Then, a two-layered control framework including real-time optimization (RTO) and model predictive control (MPC) is designed. In the RTO layer, an optimization problem with the goal of achieving optimal operation performance and the lowest possible resource consumption is set up. By solving the optimization problem in real time, a suitable setting value is sent to the MPC layer to ensure that the zinc oxide rotary kiln always functions in an optimal state. Our experiments show the strength and reliability of the proposed method, which reduces the usage of coal while maintaining high profits.

关键词： Zinc oxide rotary kiln Model reduction Sparse identification Real-time optimization Model predictive control Process control