Prof. Huayong Yang, Zhejiang University, China
INTELLIGENT MOBILE MACHINERY WITH DIGITAL HYDRAULIC TECHNOLOGY
Digital hydraulic component (DHC) has the advantages including strong controllability, high precision and good energy efficiency, it plays an important role in an intelligent mobile machinery, which integrates the functions of interaction, perception, analysis, decision and control. Interactive layer: realizing intelligent data acquisition, transmission and processing, remote supervision, fault warning, life feature identification, VR interaction which brings immersion experience and so on; Sensing layer: using the techniques of SLAM and nonlinear optimization to make intelligent mobile machinery navigate autonomously in the uncertain environment. A high precision environmental map is used to ensure a fine navigation in any uncertain environment. Analysis layer: hierarchical planning strategy, task decomposition, path planning, trajectory planning and trajectory optimization are performed in turn. Combined with AI technology, self-learning and experience summary of operation process and results are given, and applied to guide the next construction operation to realize the pre-compensation of operational bias and improve the accuracy and efficiency of the operation. Decision level: 2 level control structure and PID neural network control strategy are applied to avoid the impact of uncertain factors in the control layer, and realize the intelligent planning and precise control of mobile machinery. Control level: A brief introduction about the development of DHC is given and the work of ZJU in DHC is presented.
Prof. Huayong Yang received a PhD degree from the University of Bath in 1988, and joined the Department of Mechanical Engineering at the Zhejiang University as a Post-doctor researcher in 1989. He is now the head of School of Mechanical Engineering, and the director of the State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University. He was elected as a fellow of the Chinese Academy of Engineering in 2013. His research interests are in motion control and energy saving of mechatronic systems, development of fluid power component and system, integration of electro-hydraulic system and engineering application. From 2000 to 2015, he was a committee member of the advanced manufacturing technology within the China High Technology 863 program of the Ministry of Science and Technology (MOST). In 2007 and 2012, he was twice the Chief Scientist of a project founded by the National Basic Research Program of MOST. He was appointed as a Cheung Kong Chair Professor by the Ministry of Education in 2005. He has been a fellow member of the Chinese Mechanical Engineering Society, and a fellow of the Academic and Advisory Committees of 7 State Key Laboratories of TsingHua University, Huazhong University of Science and Technology, Shanghai Jiaotong University, Zhejiang University, Harbin Institute of Technology, Central South University and Chongqing University. He was recipient of the first prize in the National Scientific and Technological Progress in 2012 and the second prize in 2003.
Prof. Bin Yao, Purdue University, USA
ADAPTIVE ROBUST CONTROL-THEORY AND APPLICATIONS TO INTEGRATED DESIGN OF INTELLIGENT AND HIGH-PERFORMANCE MECHATRONIC SYSTEMS
During past decades a theoretically solid nonlinear adaptive robust control (ARC) approach has been developed to synthesize performance oriented controllers with built-in intelligences under practical constraints. The talk first introduces basic ideas of the ARC strategy and touches on some specific design issues. Latest research on the constrained optimization based model compensation ARC in pushing the achievable control performance to the limit will be highlighted. The talk then focuses on the applications of the proposed ARC approach to the integrated design of intelligent and high-performance mechatronic systems. Experimental results of several specific applications will be shown to illustrate the high performance and versatility nature of the proposed ARC approach, including mobile robots, a hummingbird-size flapping-wing micro aerial vehicle (MAV), cable-pulley/cable-conduit driven medical robotic devices, light-weight robotic devices exhibiting significant flexible mode effects, energy-saving control of electrohydraulic systems and load-carrying and walking hydraulic exoskeletons, and coordinated/synchronized control of multi-axes systems with redundant drives.
Prof. Bin Yao received his PhD degree in Mechanical Engineering from the University of California at Berkeley in February 1996 after obtaining M.Eng. degree in Electrical Engineering from Nanyang Technological University of Singapore in 1992, and B.Eng. in Applied Mechanics from Beijing University of Aeronautics and Astronautics of China in 1987. Dr. Yao received a Faculty Early Career Development (CAREER) Award by National Science Foundation (NSF) in 1998 and a Joint Research Fund for Outstanding Overseas Chinese Young Scholars from National Natural Science Foundation of China (NSFC) in 2005. Dr. Yao is a Fellow of ASME and a senior member of IEEE and has chaired numerous sessions and served in a number of International Program Committee of various IEEE, ASME, and IFAC conferences including the General Chair of the 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics and the International Program Committee Chair of the 6th IFAC Symposium on Mechatronic Systems in 2013. From 2000 to 2002, he was the Chair of the Adaptive and Optimal Control Panel and, from 2001 to 2003, the Chair of the Fluid Control Panel of the ASME Dynamic Systems and Control Division (DSCD). He was the founding member to the ASME DSCD Mechatronics Technical Committee in 2005 and served in various roles including TC Chair. He was a Technical Editor of the IEEE/ASME Transactions on Mechatronics from 2001 to 2005 and Associate Editor of the ASME Journal of Dynamic Systems, Measurement, and Control from 2006 to 2009.