Towards Greater Efficiency and Autonomy of VTOL UAVs: Design, Modeling and Control

垂直起降无人机设计、建模与控制(海报pdf版本

欢迎广大师生前来参加学术报告!

  • 2018年4月27日(周五)下午3点半
  • 地点:浙江大学玉泉校区智能系统与控制研究所304教室
  • 请金数据登记报名:https://jinshuju.net/f/q4Qs1H

Abstract: Over last decade, small-size unmanned aerial vehicles (UAVs) have received unprecedented research interests and created extensive applications as well as market opportunities. Currently dominant UAV platforms, such as quadrotors and hexarotors, although exhibits great maneuverability (i.e. vertical takeoff and landing, hovering capability), is inherently energy inefficient by its flight mechanics. This drawback has increasingly limited their application in range- and/or endurance-demanding tasks such as surveying and mapping. Motivated by this, hybrid aerial vehicles such as tail-sitters, tilt-rotors, tilt-props, or dual-propulsion systems can transform between multirotor mode and fixed-wing mode, thus inheriting both benefits. Though having been actively explored in the aviation history, low-cost, small-size hybrid UAVs with increased intelligence and autonomy still poses a grand challenge. In this talk, I will present the development of a portable hybrid vertical takeoff and landing (VTOL) UAV. From a system point of view, three topics will be covered: design, modeling and control. Through the design, implementation and intensive tests, I will show how recent advances in low cost actuator (e.g. motor, propeller, ESCs), computation units and sensors have enabled the development of such small-size hybrid VTOL UAVs, and the arisen opportunities and challenges.

Bio: Dr. Fu Zhang received the B.E. (with honor) from the Department of Automation, University of Science and Technology of China, Hefei, China, in 2011. Then he studied at Department of Mechanical Engineering, the University of California, with full scholarship. He received the Ph.D. degree there in 2015, focusing on the dynamics modeling and control of ultra-high precision machining systems and high performance micro-scale rate integrating gyros funded by DARPA. Dr. Fu Zhang is now a research assistant professor with the Department of Electronic and Computer Engineering at the Hong Kong University of Science and Technology (HKUST). His current research interests include the dynamics, control and navigation of unmanned aerial vehicles (UAVs), deep reinforcement learning and optimization.

三维流场测量技术发展动态

三维流场测量技术发展动态(海报PDF版本

  • 时间:2018年4月23日星期一上午9:50
  • 地点:曹光彪楼二期204教室

演讲人:高琪,男,1979年出生,浙大航空航天学院流体工程研究所副教授。《实验流体力学》编委,中国力学学会科学普及工作委员会委员。目前从事三维流场观测的实验研究:研制了国内第一套具有自主知识产权的层析粒子图像测速(PIV)系统,研发了单相机层析PIV技术以及三脉冲速度场/压力场耦合测量的系统。

教育经历

  • 浙江大学工程力学系                       学士
  • 清华大学工程力学系                       硕士
  • 明尼苏达大学航空工程与力学系     博士

报告摘要:近年来,实验流体力学测量技术在很多方面有了显著的发展。人们不再满足对单一物理量的单点或者平面数据进行实验测量,而向往和数值计算结果一样,获得多物理场耦合的三维空间体内的实验测量结果。为了突破对简单流动工况测量的局限性,人们针对非定常复杂流动,采用声、光、电和磁等多种物理测量手段来实现流场测量。在实验测量技术的复杂化过程中,出现了两种较新的三维测量技术:层析粒子图像测速(TPIV)和磁共振测速(MRV)。这两种技术分别采用光学和磁场成像技术来实现流场的测量。另一方面,在实验数据处理和分析过程中出现一种让人眼前一亮的趋势,就是通过引入物理约束,或者说利用流动控制方程来优化实验结果、进行杂交的数值模拟计算和对流场的预测。这一发展方向上,最具代表性的就是通过时间解析的三维速度场来重构流场三维压力场的技术。本报告将从测量技术和数据处理这两方面来介绍三维流场测量技术发展的最新动向。

SRTP项目相关信息

SRTP审稿表格金数据表格:2018年3月22日更新表格,链接

SRTP项目例会:2018年3月22日更新表格,链接

附:2018年项目名单(待完善)

  • 张浩东、王宁、张书辉
  • 邓晓枫、李春洋、孙逸乐

Nonlinear Control of Transport PDE-ODE Interconnections

Nonlinear Control of Transport PDE-ODE Interconnections

  • 2018年3月21日上午10点
  • 浙江大学智能系统与控制研究所304教室

Nikolaos Bekiaris-Liberis
Marie Sklodowska-Curie Fellow
Dep. of Production Eng. & Managem.
Technical University of Crete
Chania, Greece 73100
E-mail: nikos.bekiaris@dssl.tuc.gr
http://users.isc.tuc.gr/~nlimperis/

Abstract: Numerous physical processes are described by transport PDE-ODE interconnections. LTI systems with constant input delays is perhaps the most elementary class in this category, where the transport speed is constant and the boundary of the spatial domain is fixed, besides the plant being linear. For this class of systems, predictor feedback is now a well-known delay-compensating control design tool. The situation becomes dramatically more complex when, in addition to the ODE being nonlinear, the speed of propagation or the boundary of the domain is a nonlinear function of the overall infinite-dimensional state (i.e., of the PDE or the ODE state) of the system. For such interconnections, I will present predictor-feedback design ideas, which I will then illustrate with several application examples, including, traffic systems (where the transport speed is a nonlinear function of the PDE state), extruders for 3D printing (giving rise to a system with ODE state-dependent moving boundary), and metal rolling (where the transport speed is a nonlinear function of the ODE state).

---------------------------
Nikolaos Bekiaris-Liberis received the Ph.D. degree in Aerospace Engineering from the University of California, San Diego, in 2013. From 2013 to 2014 he was a postdoctoral researcher at the University of California, Berkeley and from 2014 to 2017 he was a research associate and adjunct professor at Technical University of Crete, Greece. Dr. Bekiaris-Liberis is currently a Marie Sklodowska-Curie Fellow at the Dynamic Systems & Simulation Laboratory, Technical University of Crete. He has coauthored the SIAM book Nonlinear Control under Nonconstant Delays. His interests are in delay systems, distributed parameter systems, nonlinear control, and their applications.

Dr. Bekiaris-Liberis was a finalist for the student best paper award at the 2010 ASME Dynamic Systems and Control Conference and at the 2013 IEEE Conference on Decision and Control. He received the Chancellor’s Dissertation Medal in Engineering from the University of California, San Diego, in 2014. Dr. Bekiaris-Liberis received the best paper award in the 2015 International Conference on Mobile Ubiquitous Computing, Systems, Services and Technologies. He is the recipient of a 2017 Marie Sklodowska-Curie Individual Fellowship Grant.

最优控制导论教学日历-更新2018年4月25日

第一讲:课程导论(2018年3月5日,第一周)

  • 什么是最优控制问题
  • 最优控制有哪些应用
  • 最优控制的数学本质
  • 课程参考书籍与资料

第二讲:古典变分方法简介(2018年3月7日,第一周)

  • 泛函极值问题的例子
  • 欧拉折线近似解法
  • 拉格朗日变分解法
  • 欧拉-拉格朗日方程

第三讲:古典变分法应用-经典力学(2018年3月12日,第二周)

  • 广义坐标
  • 拉格朗日力学
  • 哈密顿力学

第四讲:带微分/积分方程约束的泛函极值问题-I(2018年3月14日,第二周)

  • 回顾无约束最优化问题
  • 回顾带等式约束最优化问题
  • 带微分方程约束的泛函极值问题的变分方法

第五讲:带微分/积分方程约束的泛函极值问题(2018年3月19日,第三周)

  • 最简单的最优控制问题
  • 带积分方程约束的泛函极值问题
  • 三类最优控制指标的分类与等价性

第六讲:横截条件:I(2018年3月21日)

  • 终端时刻固定,终端状态自由
  • 终端时刻自由,终端状态固定

第七讲:横截条件:II(2018年3月26日、28日-请假调课,2018年4月2日)

  • 终端时刻和状态自由且无关
  • 一般情况的横截条件
  • 光滑最优控制问题

第八讲:线性二次最优控制 I(2018年3月26日、28日-请假调课,2018年4月4日)

  • 无约束最优控制例子
  • 线性二次最优控制

第九讲:线性二次最优控制 II(2018年4月9日)

  • 最小能量控制问题(Robert L. Williams II and Douglas A. Lawrence, Linear State-Space Control Systems)
  • 线性系统的跟踪问题
  • 带终端约束的反馈控制

第十讲:内点条件(2018年4月13日,晚上8点45分~10点,CSC304,调课补课

  • 内点约束问题
  • 内点条件推导
  • 小车折返问题

第十一讲:最大值原理及应用 (2018年4月16日)

  • 最大值原理的描述
  • 时间最优控制问题

第十二讲:最优性原理与动态规划(2018年4月18日)

  • 多级决策问题的最优性原理概述
  • Bellman方程
  • 运用动态规划求解离散系统最优控制

第十三讲:离散化与遍历方法(2018年4月20日,晚上8点45分~10点,CSC304,调课补课

  • 遍历离散状态空间
  • 遍历离散状态空间与控制空间
  • 近似值函数
  • 维数灾难
  • 离散时间系统的策略迭代与值迭代方法

第十四讲:动态规划求解连续最优控制(2018年4月23日)

  • Hamilton-Jacobi-Bellman方程推导
  • 求解连续最优控制问题示例
  • 连续时间自适应动态规划(策略迭代方法)

第十五讲:动态规划求解线性二次(LQ)最优控制(2018年4月25日)

  • 离散系统LQ问题
  • 连续系统LQ问题
  • 滚动时域优化控制

第十六讲:最优控制的计算方法(2018年4月27日,调课,兴趣讨论,随意参加

参考资料

  • Desineni Subbaram Naidu, Optimal Control Systems, CRC Press
  • 张杰、王飞跃,最优控制,清华大学出版社
  • Mark Kot, A First Course in the Calculus of Variations, AMS
  • Robert L. Williams II and Douglas A. Lawrence, Linear State-Space Control Systems, John Wiley & Sons, INC.

Conferences in Mind of 2018

  1. IEEE International Conference on Robotics and Automation (ICRA) (21-25 May 2018 | Brisbane)
  2. International Conference on Unmanned Aircraft Systems (June 12 - 15, 2018, Dallas Marriott City Center, Dallas, TX, USA; Full papers must be submitted by February 12, 2018)
  3. American Control Conference (June 27–29, Milwaukee, WI, USA)
  4. International Symposium on Mathematical Theory of Networks and Systems (July 16 - 20, Hong Kong, Contributed session extended abstract: January 30, 2018, 2-4 page extended abstract)
  5. IEEE International Conference on Automation Science and Engineering (Munich, Germany, August 20 to 24, 2018; 1 March 2018 - Regular/Special session/ Case/ RA-L joint submission due)
  6. IEEE Conference on Control Technology and Applications (August 21-24, 2018 The Scandic Hotel Copenhagen Copenhagen, Denmark; extended deadline for Invited Session and Contributed Paper submission: February 1, 2018)
  7. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (March 1, 2018, Deadline for submission of full-length papers & videos, October, 1-5, 2018 Madrid, Spain)
  8. Intelligent Systems Conference (IntelliSys)
  9. IEEE Conference on Decision and Control (Miami Beach, FL, USA, December 17-19, 2018; Initial Paper Submissions Due: March 20)

From MIPS to Vicsek: A comprehensive phase diagram for self-propelled rods

From MIPS to Vicsek: A comprehensive phase diagram for self-propelled rods
Xiaqing Shi - Center for soft condensed matter physics and interdisciplinary research, Soochow University

2017年12月22日,下午1点,工控新楼211
Self-propelled rods interacting by volume exclusion is one of the simplest active matter systems. Despite years of effort, no comprehensive picture of their phase diagram is available. Furthermore, results on explicit rods are so far largely disconnected from those obtained on the relatively better understood cases of motility induced phase separation (MIPS) of (usually) isotropic active particles, and from our current knowledge of Vicsek-style aligning point particles. In this talk, I will present a complete phase diagram of a generic model of self-propelled rods and show how it is connected to both MIPS and Vicsek worlds.

施夏清副教授长期从事活性物质/自驱动体系的理论研究。目前,关于细胞集体动力学、细胞骨架自组织及活性粒子拓扑缺陷动力学等研究工作已发表在《Nature》、《PNAS》、《Nature Communication》等高水平学术期刊,相关工作长期以来得到了国家自然科学基金以及苏州大学软凝聚态物理及交叉研究中心平台的大力支持。

A mini-course on Particle Image Velocimetry

普渡大学Steven T. Wereley教授的PIV短期课程

资料和参考教材:
Particle Image VelocimetryA Practical Guide
Authors: Raffel, M., Willert, C.E., Wereley, S., Kompenhans, J.
http://www.springer.com/gp/book/9783540723073?cm_mmc=sgw-_-ps-_-book-_-978-3-540-72307-3

时间:下午4点 - 6点,Nov. 9, 10, 13 and 14.
地点:TBA
联系人:许超

Thu - Lecture 1 (two hours)

  1. Introduction
  2. Tracer particles, illumination
  3. Particle imaging

Fri - Lecture 2 (two hours) Fri

  1. Statistics of PIV
  2. Recording techniques

Mon - Lecture 3 (two hours)

  1. Eval Techniques I, corr, peak fitting
  2. Eval Techniques II, corr tracking, padding
  3. Eval Techniques III, corr avg, CDIC

Tue - Lecture 4 (two hours)

  1. Image processing, particle ident, part tracking
  2. Data validation, correction, statistics
  3. Resolution, uncertainty
  4. Advanced Topics, stereo, holo, temp

Bio:

Professor Wereley completed his masters and doctoral research at Northwestern University. He joined the Purdue University faculty in August of 1999 after a two-year postdoctoral appointment at the University of California Santa Barbara. During his time at UCSB he worked with a group developing, patenting, and licensing to TSI, Inc., the micro-Particle Image Velocimetry technique. His current research interests include opto/electrokinetics, investigating microscopic biological flows, harnessing diffusion for sensing applications, and developing new ways of measuring flows at the smallest length scales. Professor Wereley is the co-author of Fundamentals and Applications of Microfluidics (Artech House, 2002 and 2006) and Particle Image Velocimetry: A Practical Guide (Springer, 2007). He is on the editorial board of Experiments in Fluids and is an Associate Editor of Springer’s Microfluidics and Nanofluidics. Professor Wereley has edited Springer’s recent Encyclopedia of Microfluidics and Nanofluidics and Kluwer’s BioMEMS and Biomedical Nanotechnology.

Microscopic flow visualization: making the world on your microchip visible

Steve Wereley, Professor of Mechanical Engineering
Purdue University

时间:4 p.m., Nov. 6, 2017(周一)
地点:TBA
联系人:许超,cxu@zju.edu.cn

Abstract:
Fluid flow in the micro and nanoscale world of Lab-on-Chip devices can behave very unusually.  It is essential to have precise experimental tools to see what is happening at these very small length scales. Unfortunately these small length scales also prove challenging for experimental tools. This seminar will explore the tools available for viewing (microscale flow visualization) and measuring (micro-PIV) such small flows.  Numerous examples will be presented in which microscale flows are visualized and measured.  These examples range from flows in Lab-on-Chip devices, in and around mechanical devices, and around biological organisms. In many situations 2D planar measurements are sufficient but in some situations, 3D measurements are required. Several ways of measuring flows in 3D will be discussed.  Furthermore, beyond the fluid’s velocity field, other flow quantities of interest are often needed, such as temperature and pressure.  Methods for imaging or measuring these important scalar fields will also be discussed.

Bio:

Professor Wereley completed his masters and doctoral research at Northwestern University. He joined the Purdue University faculty in August of 1999 after a two-year postdoctoral appointment at the University of California Santa Barbara. During his time at UCSB he worked with a group developing, patenting, and licensing to TSI, Inc., the micro-Particle Image Velocimetry technique. His current research interests include opto/electrokinetics, investigating microscopic biological flows, harnessing diffusion for sensing applications, and developing new ways of measuring flows at the smallest length scales. Professor Wereley is the co-author of Fundamentals and Applications of Microfluidics (Artech House, 2002 and 2006) and Particle Image Velocimetry: A Practical Guide (Springer, 2007). He is on the editorial board of Experiments in Fluids and is an Associate Editor of Springer’s Microfluidics and Nanofluidics. Professor Wereley has edited Springer’s recent Encyclopedia of Microfluidics and Nanofluidics and Kluwer’s BioMEMS and Biomedical Nanotechnology.

ZMART won the IARC First Prize again in 2017

ZJU's aerial robotics team (ZMART) won the First Prize of the International Aerial Robotics Competition (IARC) this year again in 2017. ZMART received the First Prize as well in 2016, and its performance in 2016 was considered the target level for all IARC teams in 2016 to beat in 2017.

Quota from the last sentence of the 2016 IARC Technology Readiness Level: The team demonstrating this level of performance in 2016 was Zhejiang University. .... Zhejiang University has currently set the performance level for all IARC teams to beat in 2017.

According to Robert Michaelson (the creator of the IARC from Georgia Tech), ZMART created the best record of IARC Mission 7 since it was released in 2014. ZMART was successfully to build a fully autonomous drone (shepherd) to drive three ground vehicles (sheep) back the safety region (sheepfold). Comparing to last year, ZMART's drone showed a great improvement in broad region vision and perception capability, machine decision, etc.

ZMART featured in media, including,