报告题目：On Fault-Tolerant Control (FTC) and Fault-Tolerant Cooperative Control (FTCC) of Unmanned Systems and Their Applications（无人系统的容错控制与容错协同控制及其应用研究）

报告人：张友民 教授

单位：Concordia University (Canada)

报告时间：2017年6月27日（周二）上午9:30-10:30

报告地点：中心楼二楼教育部重点实验室会议室

主持人/邀请人：张侃健 教授

报告摘要：Unmanned systems including Unmanned Aerial Vehicles/Systems (UAVs or UASs), Unmanned Ground Vehicles (UGVs) and Autonomous/Driverless Cars, as well as Unmanned Surface/Underwater Vehicles (USVs/UUVs) are gaining more and more attention during the last a few years due to their important contributions and cost-effective applications in several tasks such as surveillance, sense, search, rescue, agriculture, forest and environment, pipelines and powerlines, military and security applications. On the other hand, health management and Fault-Tolerant Control (FTC) of manned aircraft have a long history since the initial research on self-repairing flight control systems in US Air Force and NASA begun in mid-1980s. However, due to safety concern of manned aerial vehicles to the pilot, experimental test and further practical research and development have been limited. Benefited from the recent and significant advances and developments of UAVs, development and application of autonomous, fault-tolerant, and cooperative control techniques have been emerged and developed quickly in recent years, since UAVs provide a cheap and operative experimental testbed for development, implementation, testing and validation of the newly developed autonomous, fault-tolerant, cooperative and even the latest Fault-TolerantCooperative Control (FTCC) techniques.

In this talk, brief review on the development of autonomous unmanned aircraft systems and challenges on autonomy and fault tolerance of unmanned systems will be given first, then the latest development and current research work on FTCC with applications to autonomous quadrotor helicopter UAVs, wheeled mobile robots/ground vehicles testbeds and unmanned surface vehicles developed in collaboration with industry at Concordia University, as well as applications to wind turbines/farm in the renewable energy field, will be introduced.

Bio（个人简介）：Youmin Zhang received the B.S., M.S., and Ph.D. degrees from Northwestern Polytechnical University, Xi'an, China, in 1983, 1986, and 1995, respectively. He is currently a Professor with the Department of Mechanical, Industrial and Aerospace Engineering and the Concordia Institute of Aerospace Design and Innovation, Concordia University, Montreal, Quebec, Canada.

His current research interests include condition monitoring, health management, Fault Detection and Diagnosis (FDD), and Fault-Tolerant Control Systems (FTCS), cooperative Guidance, Navigation, and Control (GNC) and remote sensing of single and multiple unmanned aerial/space/ground/surface vehicles and their applications to forest fires, powerlines, search and rescue monitoring, detection and services, dynamic systems modeling, estimation, identification, advanced control techniques and advanced signal processing techniques for diagnosis, prognosis, and health management of safety-critical systems, renewable energy systems and smart grids, and manufacturing processes. He has authored 4 books, over 420 journal and conference papers, and book chapters.

He is a Fellow of Canadian Society of Mechanical Engineering (CSME), a Senior Member of the American Institute of Aeronautics and Astronautics (AIAA) and the Institute of Electrical and Electronics Engineers (IEEE), and a member of the Technical Committee (TC) for several scientific societies, including the International Federation of Automatic Control (IFAC) and Chinese Technical Committee on Fault Detection, Supervision and Safety for Technical Processes, the AIAA Infotech@Aerospace Program Committee on Unmanned Systems, the IEEE Robotics and Automation Society TC on Aerial Robotics and Unmanned Aerial Vehicles, the ASME/IEEE TC on Mechatronics and Embedded Systems and Applications, and the International Conference on Unmanned Aircraft Systems (ICUAS) Association Executive Committee. He has been invited to deliver plenary and tutorial talks at international conferences/workshops and research seminars worldwide for over 80 times. He is a founding Editor-in-Chief of the Journal of Instrumentation, Automation and Systems, an Editor-at-Large of the Journal of Intelligent & Robotic Systems, and an Editorial Board Member/Associate Editor of several other international journals (including three newly launched journals on Unmanned Systems). He has served as General Chair, Program Chair, Program Vice Chair, and IPC Member of many international conferences, including the General Chair of the 10th International Conference on Intelligent Unmanned Systems (ICIUS) in 2014, Montreal, Canada, Program Chair of the International Conference on Unmanned Aircraft Systems (ICUAS) in 2014, Orlando, FL, USA, one of General Chairs of the ICUAS in 2015, Denver, USA, a Co-General Chair of the ICIUS 2016 to be held at Xian, China, Program Chair of the ICUAS 2017 held at Miami, USA, and General Chair of the ICUAS 2018 to held at Dallas, USA in June 12-15, 2018. More detailed information can be found at http://users.encs.concordia.ca/~ymzhang/.

报告题目：Necessary and Sufficient Condition of Linear Strong Structural Controllability and Observability of an n-Link Underactuated Revolute Planar Robot

报告人：忻欣 教授

单位：Okayama Prefectural University (Japan)

报告时间：2017年6月27日（周二）上午10:30-11:30

报告地点：中心楼二楼教育部重点实验室会议室

主持人/邀请人：张侃健 教授

报告摘要: The concept of strong structural controllability and observability, which means that all systems with the same structure are controllable and observable has attracted renewed attention recently in studying complex networks. In this talk, we will introduce our new results of the linear strong structural controllability and observability of complex networks by studying an n-link underactuated revolute planar robot with all the links moving in the same vertical plane, which has received considerable research interest recent years. Our previous study shows that such a robot is linearly controllable and observable, around the upright equilibrium point (UEP), where all the links are in the upright position, regardless of its physical parameters, if the first or the last joint is active. In this talk, first, when the robot only has an active intermediate joint or active intermediate nonadjacent joints, we prove that the robot is linearly strongly structurally uncontrollable and unobservable around the UEP by showing illustratively that there always exists a set of physical parameters that renders the robot linearly uncontrollable and unobservable around the UEP. Second, when the robot only has two active intermediate adjacent joints, without making any assumption on the physical parameters of the robot, we prove that the robot is linearly strongly structurally controllable and observable around the UEP. Thus, the robot with its first and last joint being passive is linearly strongly structurally controllable and observable around the UEP if and only if there are at least two active adjacent joints among (n-2) intermediate joints. We present new insights into the linear controllability and observability of such a robot with different actuator-sensor configurations of multiple actuators and encoders.

Bio（个人简介）: Xin Xin received the B.S. degree in 1987 from the University of Science and Technology of China, Hefei, China, and the Ph.D. degree in 1993 from the Southeast University, Nanjing, China. From 1991 to 1993, he did his Ph.D. studies in Osaka University as a co-advised student of China and Japan with the Japanese Government Scholarship. He also received the Doctor degree in engineering in 2000 from Tokyo Institute of Technology. From 1993 to 1995, he was a postdoctoral researcher and then became an associate professor of Southeast University. From 1996 to 1997, he was with the New Energy and Industrial Technology Development, Japan as an advanced industrial technology researcher. From 1997 to 2000, he was an assistant professor of Tokyo Institute of Technology. From 2000, he has been with Okayama Prefectural University as an associate professor, where he is now a professor since 2008 and is Chair of the Department of Systems Engineering. He has more than 180 publications in journals, international conferences and book chapters. He received the division best paper award of SICE Annual Conference on Control Systems in 2004. As a principal investigator, he has obtained more than 10 research grants from Japanese Government and several research foundations. His current research interests include robotics, dynamics and control of nonlinear and complex systems.  He is now associate editors of IEEE Control Systems Letters, Transaction of the Society of Instrument and Control Engineers, Journal of the Robotics Society of Japan.

报告题目：A Communication/Control Co-design Paradigm for Networked Control Systems (Joint work with Prof. Li Qiu, Prof. Guoxiang Gu, and Mr. Songbai Wang)

报告人：陈伟 博士后

单位：UC Berkeley (USA)

报告时间：2017年6月27日（周二）下午14:30-15:30

报告地点：中心楼二楼教育部重点实验室会议室

主持人/邀请人：魏海坤 教授

报告摘要：We propose a communication/control co-design paradigm to study networked control systems. The essence of this new paradigm is to allow the communication network to be jointly designed with the controller design. In this talk, two different communication/control co-design approaches would be discussed, i.e., the channel/controller co-design and coding/control co-design. In the channel/controller co-design, we find the minimum total channel capacity required for stabilizability given in terms of the topological entropy of the plant. In the coding/control co-design, the MIMO technology recently developed in communication theory has been utilized for information exchange. A necessary and sufficient condition for the networked stabilizability is obtained given in terms of a majorization relation.

Bio（个人简介）：Wei Chen received the B.S. degree in engineering and the double B.S. degree in economics from Peking University in 2008. He received the Mphil and PhD degree in electronic and computer engineering from the Hong Kong University of Science and Technology in 2010 and 2014, respectively. From February 2014 to July 2014, he was a visiting student researcher at UC Berkeley. From September 2014 to December 2015, he joined the Hong Kong University of Science and Technology as a visiting assistant professor. From January 2016 to July 2016, he was a postdoc in ACCESS Linnaeus Center, KTH Royal Institute of Technology. Currently, he is a postdoc in EECS Department of UC Berkeley under the supervision of Prof. Pravin Varaiya. Dr. Chen's research interests include linear systems and control, networked control systems, optimal control, smart grid, cyber physical security, and network science. He received the best student paper award at the 2012 IEEE International Conference on Information and Automation.

报告题目：Cost-Aware Virtual Machine Allocation for Green Data Centers（绿色数据中心运行成本优化的虚拟机分配问题）

报告人：汪海 教授

单位：Saint Mary's University (Canada)

报告时间：2017年6月27日（周二）下午15:30-16:30

报告地点：中心楼二楼教育部重点实验室会议室

主持人/邀请人：魏海坤 教授

报告摘要：数据中心运行成本的绝大部分是电费。绿色再生能源包括风能，太阳能，地热能等等，是取之不尽，用之不竭的能源，是相对于会穷尽的不可再生能源的一种能源。利用绿色再生能源对数据中心供电能节省运行成本，使其不受到传统能源市场价格波动的影响。另外，目前数据中心普遍使用虚拟机技术来降低其运行成本。在这个报告中，我们优化数据中心供电的各种绿色再生能源的成本，证明绿色数据中心运行成本优化的虚拟机分配问题是个NP-hard问题。我们提出新的虚拟机分配算法来使绿色数据中心的运行成本降低，提高新一代绿色数据中心的竞争优势。