Gold Coast 17 - 20 December 2017
Gold Coast Convention and Exhibition Centre
Plenary Session SpeakersRehabilitation robots that cooperate and motivate
Head, Dept. of Health Sciences and Technology
Sensory-Motor Systems Lab, IRIS, ETH Zurich
TAN E4, Tannenstrasse 1, CH-8092 Zurich
SCI Center, University Hospital Balgrist
University of Zurich
Most rehabilitation robots work with patients in a "master-slave" relationship, thus, forcing the patient to follow a predetermined motion without consideration of voluntary efforts or behaviour of the patient. During such unidirectional communication, the loop is not closed by the human in order to adjust the device to the biomechanical or physiological state of the patient, or his/her engagement and intention. We developed novel neurorehabilitation robots that offer a new approach by placing the human into the loop. Our robots enables a bi-directional interaction and assist in a compliant way, just as much as needed, so that the patient can contribute to the movement with own voluntary effort. The patient is challenged in a moderate but engaging and motivating way without causing undue stress or harm. In this talk, I will present examples of patient-cooperative control that have been implemented in our novel robots applied to the neurorehabilitation of gait and arm function.About the speaker
Robert Riener studied Mechanical Engineering at TU Munchen, Germany, and University of Maryland, USA. He received a Dr.-Ing. degree in Engineering from the TU Munchen in 1997. After postdoctoral work from 1998-1999 at the Centro di Bioingegneria, Politecnico di Milano, he returned to TU Munchen, where he completed his Habilitation in the field of Biomechatronics in 2003. In 2003 he became assistant professor at ETH Zurich and Spinal Cord Injury Center of the University Hospital Balgrist ("double-professorship"); since 2010 he has been full professor for Sensory-Motor Systems, ETH Zurich. Since 2012, Riener is member of the Department of Health Sciences and Technology, which he is chairing as head since 2016. Riener has published more than 400 peer-reviewed journal and conference articles, 20 books and book chapters and filed 20 patents. He has received 18 personal distinctions and awards including the Swiss Technology Award in 2006, the IEEE TNSRE Best Paper Award 2010, and the euRobotics Technology Transfer Awards 2011 and 2012. Riener's research focuses on the investigation of the sensory-motor interactions between humans and machines. This includes the development of user-cooperative robotic devices and virtual reality technologies applied to neurorehabilitation. Riener is the initiator and organizer of the Cybathlon 2016.
PDE Control: Designs and Applications
Associate Vice Chancellor for Research
Director, Cymer Center for Control Systems and Dynamics, UCSD
Daniel L. Alspach Endowed Chair in Dynamic Systems and Control
Distinguished Professor of Mechanical and Aerospace Engineering
Department of Mechanical & Aero. Eng.
University of California, San Diego
La Jolla, CA 92093-0411
In addition to classical physical applications such as fluid flows in engines, thermal dynamics in buildings, flexible wings of aircraft, electrochemistry in batteries, or plasmas in lasers and tokamaks, PDEs are effective in modeling large multi-agent systems as continua of networked agents, with applications ranging from vehicle formations to opinion dynamics. In its early period PDE control focused on replicating linear control methods (pole placement, LQG, H-infinity, etc) in infinite dimension. Over the last 15 years, a continuum version of the "backstepping" method has given rise to control design tools for nonlinear PDEs and PDEs with unknown functional coefficients. Backstepping designs now exist for each of the major PDE classes (parabolic, hyperbolic, real- and complex-valued, and of various orders in time and space). As a special case, continuum backstepping compensates delays of arbitrary length and dependence on time in general nonlinear ODE control systems. I will present a few design ideas and several applications, including shallow water canals (with and without sediment dynamics), deep oil drilling (where a large parametric uncertainty occurs), and extruders in 3D printing (where a large delay is a nonlinear function of the value of the state).About the speaker
Miroslav Krstic holds the Alspach endowed chair and is the founding director of the Cymer Center for Control Systems and Dynamics at UC San Diego. He also serves as Associate Vice Chancellor for Research at UCSD. As a graduate student, Krstic won the UC Santa Barbara best dissertation award and student best paper awards at CDC and ACC. Krstic is Fellow of IEEE, IFAC, ASME, SIAM, and IET (UK), Associate Fellow of AIAA, and foreign member of the Academy of Engineering of Serbia. He has received the PECASE, NSF Career, and ONR Young Investigator awards, the Axelby and Schuck paper prizes, the Chestnut textbook prize, the ASME Nyquist Lecture Prize, and the first UCSD Research Award given to an engineer. Krstic has also been awarded the Springer Visiting Professorship at UC Berkeley, the Distinguished Visiting Fellowship of the Royal Academy of Engineering, the Invitation Fellowship of the Japan Society for the Promotion of Science, and the Honorary Professorships from the Northeastern University (Shenyang), Chongqing University, Donghua University (Shanghai), and Dalian Maritime University, China. He serves as Senior Editor in IEEE Transactions on Automatic Control and Automatica, as editor of two Springer book series, and has served as Vice President for Technical Activities of the IEEE Control Systems Society and as chair of the IEEE CSS Fellow Committee. Krstic has co-authored eleven books on adaptive, nonlinear, and stochastic control, extremum seeking, control of PDE systems including turbulent flows, and control of delay systems.
A Symmetric Perspective on Simultaneous Localisation and Mapping
Research School of Engineering,
College of Engineering & Computer Science,
The Australian National University,
Canberra, ACT, 2601,
Tel: 61-(0)2-61 25 86 13
Fax: 61-(0)2-61 25 05 06
This talk considers the classical robotics problem of Simultaneous Localisation and Mapping (SLAM) from a nonlinear systems perspective. I show how the classical SLAM problem can be formulated as symmetric kinematics on a homogeneous space under action from a novel semi-direct Lie-group that I term the SLAM group. Using this framework, it is straightforward to derive a nonlinear observer (on the lifted kinematics defined on the SLAM group) that integrates pose and landmark estimation in the same mathematical framework without resorting to linearisation. This approach provides a fully nonlinear state estimator with (almost) global convergence properties that is highly robust to noise and offers low-complexity real-time SLAM implementation for low-cost robotic systems.About the speaker
Robert Mahony is a Professor in the Research School of Engineering at the Australian National University. He received his BSc in 1989 (applied mathematics and geology) and his PhD in 1995 (systems engineering) both from the Australian National University. He is a fellow of the IEEE and was president of the Australian Robotics Association from 2008-2011. His research interests are in non-linear systems theory with applications in robotics and computer vision. He is known for his work in aerial robotics, geometric observer design, matrix subspace optimisation and image based visual servo control.
Semi-Plenary Session SpeakersNavigation and Control of Drones in GPS-Denied Environments
Ben M. Chen
Professor & Provost's Chair
Department of Electrical and Computer Engineering
National University of Singapore
In this talk, we aim to report some advanced unmanned aerial systems (UAS) developed in the Department of Electrical and Computer Engineering, National University of Singapore. Attention is particularly paid to UAS, which is capable of navigating through in cluttered indoor and outdoor GPS-denied environments, such as hostile buildings, sewer tunnels, radiation contaminated areas and inside forests. Topics under studied include dynamic modeling of an unmanned helicopter, advanced flight control system design, multi-sensory data fusion, real-time simultaneous localization and mapping, and dynamic path planning in unknown environments. We will particularly showcase the development of an unconventional hybrid aircraft, which has the capability of taking off and landing vertically, and transiting to a fixed-wing mode for fast cruise flight. We will also take this opportunity to highlight some techniques that we have recently developed for the 2017 International Micro Air Vehicles (IMAV) Competition, which was held in Toulouse, France, September 18–21, 2017. The IMAV Competition is a yearly event that aims at fostering key technologies for the development of micro-air vehicles. It provides an arena for research groups around the world to showcase their research achievements and to test their results in real environments. Besides the unmanned aerial systems capable of navigating fully autonomously in GPS-denied environments, we have also managed to achieve sophisticated cooperative control and task management of multiple unmanned aerial vehicles for heavy duty missions.About the speaker
Ben M. Chen is currently a Professor and Provost's Chair in the Department of Electrical and Computer Engineering, National University of Singapore. He is also serving as the Director of NUS ECE Control, Intelligent Systems and Robotics Area, and Head of Control Science Group, NUS Temasek Laboratories. His current research interests are in unmanned systems, robust control, control applications, and financial market modeling.
Dr. Chen is an IEEE Fellow. He has published more than 400 journal and conference articles, and a dozen research monographs including Robust and H-infinity Control (Springer, New York, 2000), Hard Disk Drive Servo Systems (Springer, 1st Edition, 2002; 2nd Edition, New York, 2006), Linear Systems Theory (Birkhäuser, Boston, 2004), Unmanned Rotorcraft Systems (Springer, New York, 2011), and Stock Market Modeling and Forecasting (Springer, New York, 2013). He had served on the editorial boards of several international journals including IEEE Transactions on Automatic Control, Systems & Control Letters, and Automatica. He currently serves as an Editor-in-Chief of Unmanned Systems. He has been invited to deliver keynote and plenary speeches at international conferences and events held in USA, China, Canada, U.K., France, Japan, Australia, India and Malaysia.
Dr. Chen has received a number of research awards nationally and internationally. His research team has actively participated in international UAV competitions, and won quite a few championship awards in the contests, including very recent ones – the indoor competition champion and the outdoor competition champion at the 2017 International Micro Air Vehicles Competition, held in Toulouse, France, September 2017.
~Development of Atomic Force Microscopy: A Key to Explore the Nanoscale World
Nanotechnology is a key research subject in the 21st century. Many countries have put a lot of effort into this research, which has now become a highly prevalent and crucial technology in the world. Atomic Force Microscopy (AFM) is one of the most important kinds of nanotechnology to help people to explore the nanoscale world. It features in high resolution in vacuum, gases, or liquid operational environments, and has been widely used in high-tech industry such as material observation, biological and medical testing, semiconductor testing and detection, etc.
This talk will focus on the development of AFM technology over the past till now and the challenges of future application. First, AFM classification and operational principle are quickly introduced for audiences to easily understand this type of technology. Next, contemporary applications of AFM in industry and biological sciences are provided. Moreover, the state-of-the-arts of AFM in technological innovations such as hardware upgrades, scan method improvements, and control promotions are briefly reviewed, which also include some recent research results of our laboratory. Finally, the rest of the talk will address the technological challenges of future development of the AFM, which are able to meet the industrial or biological testing requirements on the future potential applications. In summary, a systematic illustration of the AFM classification, operational principle, contemporary applications, technological developments, and future application challenges will be presented in this talkAbout the speaker
Li-Chen Fu received the B.S. degree from National Taiwan University in 1981, and the Ph.D. degree from the University of California, Berkeley, in 1987. Since 1987, he joined National Taiwan University, and was awarded Lifetime Distinguished Professorship and Irving T. Ho Chair-professorship in 2007. He has also served as the university Secretary General from 2005 to 2008. His areas of research interest include Robotics, Visual Detection and Tracking, and Control Theory & Applications.
Dr. Fu has been extremely active and highly regarded in his technical field. He has served as the Program Chair of 2004 IEEE Conference on Control Applications (CCA). In terms of the editorial work, he has served as Associate Editor of the prestigious control journal, called Automatica from 1996 to 1999. Starting from 1999, he started a new international control journal, called Asian Journal of Control, and became an Editor-in-Chief of the journal till now. Due to his profound academic reputation, he was appointed as Vice-President for Publication of Asian Control Association (ACA) since 2006, and then was elected as President of ACA during 2012?2013. Due to his active role in international control community, he was elected as BoG member of IEEE Control Systems Society (CSS) from 2014 to 2016.
Dr. Fu has received numerous recognitions for his outstanding performance in research and education during his twenty eight year technical career. Domestically, he has received multiple Distinguished Research Awards from Ministry of Science & Technology (MOST) before 2000, Outstanding Youth Medal in 1991, Ten Outstanding Young Persons Award in 1999, Outstanding Control Engineering Award from Chinese Automatic Control Society (CACS) in 2000, Industry-Academia Collaboration Award from Ministry of Education (MOE) in 2004, TECO Technology Award in 2005, Outstanding Research Award from Pan Wen Yuan Foundation in 2012, and Academic Award from MOE in 2015. Internationally, he was awarded IEEE Fellow in 2004, has been elected to be a Distinguished Lecturer for IEEE Control Systems Society from 2013~2015, and was awarded Wook Hyun Kwon Education Prize from Asian Control Association in 2015.
Adaptive operation of small flying robots
H. Jin Kim
Department of Mechanical and Aerospace Engineering
Seoul National University, South Korea
Small flying robots, or so-called drones, are appearing in news media every day, which makes us wrongly believe that all the technological ingredients for their various applications are available by now. This talk will addresses key technological issues and hurdles remaining for drones to replace human efforts in various applications. First, applications of robust and adaptive control techniques will be described for dealing with uncertainty in the system dynamics or operational environments.
In particular, examples including autonomous pick-up and delivery, and aerial manipulation with a system combining a drone platform with a robotic arm will be covered. Then, real-time vision-based navigation will be discussed, where the on-board camera system is used to navigate in unknown environments and find target locations or objects of interests for autonomous mission accomplishments. Finally, recent efforts to combine ideas of machine learning for sensing and control of drones will be introduced.About the speaker
H. Jin Kim is with the Department of Mechanical and Aerospace Engineering, Seoul National University, Seoul, Korea. Where she has been a professor since 2004, and currently a Director of Global Education Center for Engineers. As a Director of Intelligent Control Systems Laboratory, her research interests are application of robust and adaptive control for flight control systems, path planning and navigation for intelligent autonomous systems.
She obtained her B.S. from KAIST (Korea Advanced Institute of Science and Technology), M.S. and Ph.D. from University of California, Berkeley, all in Mechanical Engineering. She is a recipient of the Prime Minister of Trade, Industry, and Energy Award in 2015, the Prime Minister of Knowledge Economy Prize in 2012 and 2010, and the Wook Hyun Kwon Young Researcher Award from the Institute of Control, Robotics and Systems in 2014. She has served as an Associate Editor of several journals including IFAC Mechatronics and IEEE Transactions on Robotics.
Dr. Chen is an IEEE Fellow. He is the author/co-author of 10 research monographs including H2 Optimal Control (Prentice Hall, 1995), Robust and H? Control (Springer, 2000), Hard Disk Drive Servo Systems (Springer, 1st Edition, 2002; 2nd Edition, 2006), Linear Systems Theory (Birkhauser, 2004), Unmanned Rotorcraft Systems (Springer, 2011), and Stock Market Modeling and Forecasting (Springer, 2013). He had served on the editorial boards of a number of journals including IEEE Transactions on Automatic Control, Systems & Control Letters, and Automatica. He currently serves as an Editor-in-Chief of Unmanned Systems and a Deputy Editor-in-Chief of Control Theory & Technology.
~Autonomous Distributed Control of Next-Generation Smart Grids
Dr Qing-Chang Zhong
Max McGraw Endowed Chair Professor in Energy and Power Engineering
Dept. of Electrical and Computer Engineering
Illinois Institute of Technology, Chicago, USA
Power systems are going through a paradigm change. The centralized large facilities are being replaced with millions of widely dispersed, incompatible, relatively small renewable or alternative power plants, plug-in EVs, and energy storage units. Moreover, the majority of loads are expected to actively take part in the grid regulation in the same way as suppliers do. In this lecture, it will be shown that the fundamental challenge behind this paradigm change is that future power systems will be power-electronics-enabled, with millions of heterogeneous active players. Advanced control algorithms will then be presented to homogenize millions of heterogeneous players, followed by a distributed control architecture based on the synchronization mechanism of synchronous machines. All the active players, large or small, supplying or consuming, can be controlled to behave like virtual synchronous machines so that they can equally and actively take part in the regulation of system frequency and voltage via autonomous individual actions, in the same way as conventional power plants do. The distributed players only require information available at the terminals and communicate with each other through the power network, rather than the communication network. Hence, this paves the way to achieve autonomous operation of future power system, which could considerably enhance the stability, scalability, operability, reliability and security of next-generation smart grids.About the speaker:
Dr. Qing-Chang Zhong, Fellow of IEEE and IET, holds the Max McGraw Endowed Chair Professor in Energy and Power Engineering at Department of Electrical and Computer Engineering, Illinois Institute of Technology, Chicago, USA. He was educated at Imperial College London (PhD, 2004, awarded the Best Doctoral Thesis Prize), Shanghai Jiao Tong University (PhD, 2000), Hunan University (MSc, 1997), and Hunan Institute of Engineering (Diploma, 1990). Having been recognized as a Distinguished Lecturer for the IEEE Power and Energy Society, the IEEE Control Systems Society and the IEEE Power Electronics Society, he is a world-leading multidisciplinary expert in control, power electronics and power systems. Before joining Illinois Institute of Technology, he was the Chair Professor in Control and Systems Engineering at The University of Sheffield, UK, where he built up a $5M+ research lab dedicated to the control of energy and power systems and attracted the support of Rolls-Royce, National Instruments, Texas Instruments, Siemens, ALSTOM, Turbo Power Systems, Chroma, Yokagawa, OPAL RT and other organizations. He (co-) authored three research monographs, including Robust Control of Time-delay Systems (Springer, 2006) and Control of Power Inverters in Renewable Energy and Smart Grid Integration (Wiley-IEEE Press, 2013). His fourth book entitled Power Electronics-Enabled Autonomous Power Systems: Next Generation Smart Grids, which presents the architecture and technical routes of next-generation smart grids based on the synchronization mechanism of synchronous machines, will be published by Wiley-IEEE Press in 2017. He is/was an Associate Editor for several leading journals in control and power engineering, including IEEE Trans. on Automatic Control, IEEE Trans. on Control Systems Technology, IEEE Trans. on Power Electronics, and IEEE Trans. on Industrial Electronics. His current research focuses on advanced control/systems theory, power electronics, and the seamless integration of both to address various fundamental challenges in energy and power systems.
Dr. Zhong is a dedicated educator. Two of his four Chinese PhD students graduated received the National Award for Outstanding Chinese Students Abroad including one Grand Prize (only 10 such awards worldwide each year and only two UK students have received the Grand Prize so far). Ten of his researchers have secured faculty positions worldwide.
- Regular Papers (drafts)
- 28 July 17 (Final)
- Invited Session Proposals
- 24 July 17 (Final)
- Workshop Proposals
- 28 July 17 (Final)
- Author notifications
- 22 September 17
- Early registration deadline
- 03 October 17
- Final Papers
- 04 October 17
- Workshops & Tutorials
- 17 December 17
- 17 - 20 December 17