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Frontal Face Tracking in the thermal Infrared Imaging for Autism Spectrum Disorder Children

Frontal Face Tracking in the Thermal Infrared Imaging for Au...

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ieee international conference on control system, computing and engineering (iccsce)

作者： M.A Rashidan S.N Sidek H.M Yusof A.S Ghazali N Rusli Department of Mechatronics Kulliyyah of Engineering International Islamic University Malaysia 53100 Jalan Gombak Kuala Lumpur Malaysia ProStrain Technologies 1-10 HIVE 12 Taman Teknologi MRANTI Bukit Jalil Kuala Lumpur Malaysia

the research and application of therapeutic robotics for children have gained significant attention. this study introduces a system for emotion recognition in Autism Spectrum Disorder (ASD) children that utilizes infrared thermal imaging cameras to capture the frontal facial images. the paper focuses on the development to automate, recognize and track the subjects frontal face using the Shape-Adapted Mean Shift algorithm (SAMShift) applied to thermal images. this system targets the identification of affective states in ASD children and employs non-invasive thermal imaging instead of invasive sensor patches. By integrating tracking and affective state analysis within a single modality, the system addresses the limitations of traditional visual-based systems, which often suffer from invasiveness due to the use of sensor patches, difficulty in automating and tracking facial features, and challenges in accurately identifying affective states. the SAMShift algorithm, implemented in the LabVIEW® vision module environment, is utilized for tracking the frontal face image. Experimental results demonstrate the effectiveness of the proposed method, achieving an average accuracy of 89.20% and an average precision of 95.40%. this research contributes to advancing the field of therapeutic robotics for children with ASD by providing an automated, non-invasive, and accurate approach to emotion recognition.

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Proceedings of the 13th international conference on Cloud computing, Data Science and engineering, Confluence 2023

Proceedings of the 13th International Conference on Cloud Co...

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13th international conference on Cloud computing, Data Science and engineering, Confluence 2023

ISBN: (纸本)9781665462631

the proceedings contain 103 papers. the topics discussed include: COVID-19 prevention melioration: face mask and social distancing detection;software complexity reduction through the process automation in software development life cycle;a secured quantum key exchange algorithm using Fermat numbers and DNA encoding;visual malware classification using transfer learning;an authentication algorithm for mitigating dos attacks in wireless body sensor networks;animal breed classification and prediction using convolutional neural network primates as a case study;cataloguing of coronary heart malady using machine learning algorithms;security against SSDF attacks using novel attack mitigation mechanism for cognitive radio networks;design of medi-chain: a blockchain and cloud based health record system;an overview of relevant literature on different approaches to word sense disambiguation;construction of reverse logistics network of waste electrical appliances;text-based image retrieval using captioning;and test evaluation metrics and test case prioritization in the dynamics of software testing.

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Applications of Reinforcement Learning in three-phase Grid-connected Inverter 13

Applications of Reinforcement Learning in Three-phase Grid-c...

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13th ieee international conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2023

作者： Li, Canming Control and Computer Engineering North China Electric Power University Beijing China

ISBN: (纸本)9798350315196

the grid-connected inverter is a key energy conversion device for grid-connected new energy and is widely used in distributed power generation system. However, the traditional control strategy has many limitations in the aspects of stability, system voltage and frequency adjustment, a large amount of renewable energy connected to the grid may cause power and frequency oscillation that threaten the stable operation of the grid. To solve this problem, an adaptive and optimal control method based on reinforcement learning and adaptive dynamic programming (ADP) is implemented for VSG three-phase grid-connected inverter. the method establishes a mathematical model of a VSG-based grid-connected inverter, and transformed into a standard linear quadratic regulation (LQR) optimization problem. On the basis of VSG power-frequency control, the dynamic compensation term given by the ADP algorithm is introduced into the active power loop. During the grid connection, the VSG output is optimally adjusted through the proposed adaptive optimal control strategy to reduce the system frequency fluctuation. In the case system dynamics are not known in the complex environment of grid-connected inverters, deep deterministic strategy gradient (DDPG) is used to replace the ADP algorithm in this paper. Finally, the effectiveness of the method is verified in the Simulink platform. © 2023 ieee.

关键词： Reinforcement learning

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Rehabilitation Robotics Ontology on the Cloud

Rehabilitation Robotics Ontology on the Cloud

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13th ieee international conference on Rehabilitation Robotics (ICORR)

作者： Dogmus, Zeynep Papantoniou, Agis Kilinc, Muhammed Yildirim, Sibel A. Erdem, Esra Patoglu, Volkan Sabanci Univ Fac Engn & Nat Sci Istanbul Turkey Natl Tech Univ Athens Athens Greece Hacettepe Univ Physiotherapy & Rehabil Dept Ankara Turkey

ISBN: (纸本)9781467360241;9781467360227

We introduce the first formal rehabilitation robotics ontology, called REHABROBO-ONTO, to represent information about rehabilitation robots and their properties;and a software system REHABROBO-QUERY to facilitate access to this ontology. REHABROBO-QUERY is made available on the cloud, utilizing Amazon Web services, so that 1) rehabilitation robot designers around the world can add/modify information about their robots in REHABROBO-ONTO, and 2) rehabilitation robot designers and physical medicine experts around the world can access the knowledge in REHABROBO-ONTO by means of questions about robots, in natural language, with the guide of the intelligent user-interface of REHABROBO-QUERY. the ontology system consisting of REHABROBO-ONTO and REHABROBO-QUERY is of great value to robot designers as well as physical therapists and medical doctors. On the one hand, robot designers can access various properties of the existing robots and to the related publications to further improve the state-of-the-art. On the other hand, physical therapists and medical doctors can utilize the ontology to compare rehabilitation robots and to identify the ones that serve best to cover their needs, or to evaluate the effects of various devices for targeted joint exercises on patients with specific disorders.

关键词： Web services cloud computing control engineering computing medical robotics natural language interfaces ontologies (artificial intelligence) patient rehabilitation

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Design and Development of IOT based Blood Pressure Measurement system 13

Design and Development of IOT based Blood Pressure Measureme...

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13th international conference on computing Communication and Networking Technologies, ICCCNT 2022

作者： Hiwale, Ashish Chaskar, Uttam Department of Instrumentation & Control Engineering College of Engineering Pune Pune India

ISBN: (数字)9781665452625

ISBN: (纸本)9781665452625

Blood pressure is a measurement of the force created on the walls of the arteries, which is often used to diagnose blood pressure related diseases. A convenient and painless method of measuring blood pressure can encourage regular monitoring and early intervention for heart attack, kidney damage and hypertension which is one of the leading cause of death worldwide. We developed a BP monitoring system based on the oscillometric method, which incorporates with NODE MCU ESP8266. the system consists of motor pump to inflate the cuff until it reaches to the desired level, while solenoid valve is used to deflates the air pressure gradually in the cuff. A MPX5100DP pressure sensor measures the internal cuff pressure and is processed by the ESP8266 to display systolic and diastolic values on OLED display. With inclusion of ESP8266 it becomes feasible to send data on thINGSPEAK IOT platform. the precision of the BP measurements from the experiments is close to that of the current system, which is encouraging. © 2022 ieee.

关键词： Blood pressure

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Extremum Seeking for Single-Variable Static Map with Measurement Noise via A Time-Delay Approach 13

Extremum Seeking for Single-Variable Static Map with Measure...

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13th ieee international conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2023

作者： Zhao, Bowen Yang, Xuefei Fridman, Emilia Zhou, Bin Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin China School of Electrical Engineering Tel-Aviv University Israel

ISBN: (纸本)9798350315196

In this article, we introduce a time-delay approach to extremum seeking (ES) for scalar static quadratic maps with measurement noise. the approach involves transforming the ES system into a time-delay neutral type system with stochastic perturbations, which guarantees the stability of the original ES system. Using a Lyapunov-Krasovskii (L-K) method, explicit conditions are established for the mean-square ultimate boundedness of the ES control systems. these conditions are expressed in terms of LMIs and depend on the intensity of measurement noise, tuning parameters, and a known arbitrarily large constant L that bounds the 6th moment of the estimation error. Compared to existing results for ES with measurement noise obtained via qualitative analysis, our approach provides a quantitative analysis via a time-delay approach to averaging. A numerical example is provided to illustrate the efficiency of the proposed method. © 2023 ieee.

关键词： Time delay

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Improving Teleoperation of High Degree-of-Freedom Robots with a Dual-Mode system and Variable Admittance controller Using IMU-Based Tracking 13

Improving Teleoperation of High Degree-of-Freedom Robots wit...

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13th ieee international conference on CYBER Technology in Automation, control, and Intelligent systems, CYBER 2023

作者： Lian, Siyi Wen, Shiguang Liu, Jing Wu, Qi Han, Lu Wang, Fei Northeastern University Faculty of Robot Science and Engineering Shenyang110169 China Northeastern University Faculty of Robot Science and Engineering Shenyang110819 China LiaoNing Disabled Persons' Service Center China

ISBN: (纸本)9798350315196

Admittance control allows for teleoperation with compliant performance by using external force signals driven by the operator. However, low-cost teleoperation solutions for high degree-of-freedom (DoF) robots using constant admittance controllers are mainly affected by the accuracy of sensors and jitter from operators, which can be avoided with cost-prohibitive solutions. We firstly propose a dual-mode teleoperation system with variable admittance controller and analysis the stability. To accurately track the operator's intention, an open-loop IMU-based method is designed. Our low-cost system enables operators to effectively perform complex tasks in the workspace by smoothly switching between two modes: an operating workspace to ensure teleoperation accuracy, and a moving workspace to improve efficiency of movement. We validate the proposed system through experiments using the UR5 robot in a controlled environment. Results show that our approach outperforms the constant admittance controller in terms of accuracy and efficiency. © 2023 ieee.

关键词： Remote control

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Tuning of Fractional Order PD for Position Servo system Using FOMCON 13

Tuning of Fractional Order PD for Position Servo System Usin...

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13th ieee international conference on system engineering and Technology, ICSET 2023

作者： Tajjudin, Mazidah Sukri, Nur Raihan Ishak, Norlela Rahiman, Mohd Hezri Fazalul Centre for Electrical Engineering Studies College of Engineering Universiti Teknologi MARA Selangor Shah Alam Malaysia

ISBN: (纸本)9798350340891

In this study, a position servo was controlled using a fractional-order PD controller. In comparison to its integer-order counterpart, fractional-order control was known to offer higher performance and stability. However, fractional-order PD requires tuning for more parameters, making design more challenging. the availability of numerous tuning platforms today makes the use of FOPD more practical. In this work, the FOPD was tuned using FOMCON toolbox which offers numerous optimization technique to choose from. this study examined the outcome from using Nelder-Mead, Interior point, SQP, and Active-Set optimization techniques in tuning the FOPD while minimizing the ISE criteria. In this study, initial value of FOPD was randomly set to 0.1, 0.01 and 0.5 for the Kp, Kd and μ respectively. the parameters turned out quite differently with the output from Interior-point technique seems to be the fastest compared to the rest. © 2023 ieee.

关键词： FOMCON fractional-order control Interior-point Nelder-Mead position servo

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Trajectory-model-based reinforcement learning: Application to bimanual humanoid motor learning with a closed-chain constraint 13

Trajectory-model-based reinforcement learning: Application t...

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13th ieee-RAS international conference on Humanoid Robots (Humanoids)

作者： Sugimoto, Norikazu Morimoto, Jun Natl Inst Informat & Commun Technol Ctr Informat & Neural Networks Dept Brain Machine Interface 1-4 Yamadaoka Suita Osaka 5650871 Japan ATR Computat Neurosci Labs Dept Brain Robot Interface Soura Ku Kyoto 6190237 Japan

ISBN: (纸本)9781479926190

We propose a reinforcement learning (RL) framework to improve policies for a high-dimensional system through fewer interactions with real environments than standard RL methods. In our learning framework, we first use off-line simulations to improve the controller parameters with an approximated environment model to generate samples along locally optimized trajectories. We then use the approximated dynamics to improve the performance of a tool manipulation task in a path integral RL framework, which updates a policy from the sampled trajectories of the state and action vectors and the cost. In this study, we apply our proposed method to a bimanual humanoid motor learning task in which we need to explicitly consider a closed-chain constraint. We show that a 51-DOF real humanoid robot can learn to manipulate a rod to hit via-points using both arms within 36 interactions in a real environment.

关键词： control engineering computing humanoid robots learning (artificial intelligence) trajectory control vectors 51-DOF real humanoid robot bimanual humanoid motor learning closed-chain constraint high-dimensional system path integral RL framework reinforcement learning tool manipulation task trajectory-model vector Humanoid robots Joints Predictive models Standards Trajectory Vectors

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Analytical Study of Intelligent controller with different objective function to control a complex non-linear system 13

Analytical Study of Intelligent controller with different ob...

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13th international conference on computing Communication and Networking Technologies, ICCCNT 2022

作者： Agrawal, Alka GLA University Department of Electronics and Communication Engineering Uttar Pradesh Mathura281406 India

ISBN: (数字)9781665452625

ISBN: (纸本)9781665452625

Complex non-linear systems require a highly efficient controller to work in desired manner. though conventional Proportional-Integral-Derivative (PID) works well and easy to design but for real time application as the dynamics of the plant changes, PID performance gets deteriorate. Inclusion of intelligent techniques like fuzzy system enhances the performance of the system in the dynamic variation as well. the presented paper includes the analysis of the Fuzzy PID controller optimized with the two objective functions Integral of Time weighted Absolute Error (ITAE) and Integral of Absolute Error (IAE) to examine the efficacy of the Intelligent controller as well as the role of the objective functions. After simulation and comparing with the conventional PID, it is found that Intelligent controller outperforms the conventional PID and IAE response is faster than the ITAE response. © 2022 ieee.

关键词： Fuzzy logic

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