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Mechatronic Design and Implementation of a Novel Gliding Robotic Dolphin

Mechatronic Design and Implementation of a Novel Gliding Rob...

引用

IEEE international conference on robotics and Biomimetics

作者： Zhengxing Wu Junzhi Yu Jun Yuan Min Tan Jianwei Zhang State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing 100190 China Department Informatics University of Hamburg Hamburg 22527 Germany

ISBN: (纸本)9781467396769

this paper provides an innovative design for a gliding robotic dolphin. In order to realize high maneuverability and long endurance, the robotic dolphin combines the advantages of both robotic dolphins and underwater gliders. It can not only realize fast and flexible dolphin-like swimming depending on the powerful propulsive posterior body and fluke, but also implement gently and durable gliding motion due to the buoyancy-driven system. More importantly, the controllable pectoral fins and horizontal fluke can effectively complete the attitude adjustment, so traditional internal movable masses could be removed for saving a considerable space. Besides, the hydrodynamic analysis in the steady gliding motion is executed and hydrodynamic coefficients including lift, drag, and pitching moment are also obtained through Computational Fluid Dynamics (CFD) method. Finally, extensive experiments including dolphin-like swimming, spiraling motion and gently gliding motion illustrate the great locomotion ability of the developed gliding robotic dolphin.

关键词： maneuverability endurance CFD

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Estimation of RoA for Nonlinear Systems Based on Gaussian Processes

Estimation of RoA for Nonlinear Systems Based on Gaussian Pr...

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international conference on Electronic Engineering and informatics (EEI)

作者： Yucheng Chen Yupeng Zhu Hongming Zhu Quanqi Zhang Chengwei Wu Department of Control Science and Engineering Harbin Institute of Technology Harbin China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

this paper employs Gaussian Processes (GPs) to estimate uncertainty dynamics inherent in nonlinear systems. A control policy ensuring the system satisfies initial stability constraints is derived using linear quadratic regulator (LQR). By modeling the Lyapunov function based on uncertain dynamics as GPs, the stability of the system dynamics in the Lyapunov sense is ensured. To discretize the Lyapunov function with Lipschitz continuity, a finite number of discrete points are chosen to represent the properties of the function. the region of attraction (RoA) based on Lyapunov function is widely utilized as a safe constraint in the field of control. Additionally, the maximum uncertainty dynamics are chosen as the boundary for exploration to expand the evaluation of the RoA. Finally, a simulation example is provided to demonstrate the effectiveness of the proposed approach.

关键词： Uncertainty Regulators System dynamics Estimation Gaussian processes Stability analysis Nonlinear dynamical systems informatics thermal stability Lyapunov methods

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Design of Simulation and Evaluation System for Safety Operation in High Energy Radiation Scene Based on SysML

Design of Simulation and Evaluation System for Safety Operat...

引用

international conference on Electronic Engineering and informatics (EEI)

作者： Huai Wu Baoran An Weijian Huang Xuedong Zhang Sifeng Zeng Institute of Computer Application China Academy of Engineering Physics Mianyang China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

With the emergence and wide application of new energy sources and technologies, various high-energy radiation devices have become indispensable core facilities and play an important role. At present, there are not only a large number of high-energy radiation devices in service, but also many have been or will enter the decommissioning stage. Aiming at the uncertainty and fuzziness of the traditional safety evaluation methods in the maintenance and decommissioning of high-energy radiation equipment, this paper designs the algorithms of task allocation, path planning and safety ergonomics evaluation for high-energy radiation equipment. Based on the system modeling language, the rationality of the system control flow is verified, and a simulation evaluation system for high-energy radiation equipment is developed to realize the comprehensive evaluation of safety operation schemes.

关键词： Uncertainty Ergonomics Process control control systems Systems Modeling Language Path planning Safety Maintenance Resource management informatics

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A Storytelling Robot: Modeling and Evaluation of Human-like Gaze Behavior

A Storytelling Robot: Modeling and Evaluation of Human-like ...

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IEEE-RAS international conference on Humanoid Robots

作者： Bilge Mutlu Jodi Forlizzi Jessica Hodgins Human-Computer Interaction Institute Carnegie Mellon University USA Human-Computer Interaction Institute and School of Design Carnegie Mellon University USA Robotics Institute and Computer Science Department Carnegie Mellon University USA

ISBN: (纸本)1424401992

Engaging storytelling is a necessary skill for humanoid robots if they are to be used in education and entertainment applications. Storytelling requires that the humanoid robot be aware of its audience and able to direct its gaze in a natural way. In this paper, we explore how human gaze can be modeled and implemented on a humanoid robot to create a natural, human-like behavior for storytelling. Our gaze model integrates data collected from a human storyteller and a discourse structure model developed by Cassell and her colleagues for human-like conversational agents (1994). We used this model to direct the gaze of a humanoid robot, Honda's ASIMO, as he recited a Japanese fairy tale using a pre-recorded human voice. We assessed the efficacy of this gaze algorithm by manipulating the frequency of ASIMO's gaze between two participants and used pre and post questionnaires to assess whether participants evaluated the robot more positively and did better on a recall task when ASIMO looked at them more. We found that participants performed significantly better in recalling ASIMO's story when the robot looked at them more. Our results also showed significant differences in how men and women evaluated ASIMO based on the frequency of gaze they received from the robot. Our study adds to the growing evidence that there are many commonalities between human-human communication and human-robot communication

关键词： Humanoid robots Educational robots Human robot interaction Frequency Speech robotics and automation Computer science Computer science education Application software Human voice

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An Acupoint Location Method Based on Lightweight Efficient Channel Attention Network

An Acupoint Location Method Based on Lightweight Efficient C...

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international conference on Electronic Engineering and informatics (EEI)

作者： Chengbin Wang Zhaoshui He Xu Wang Bo Yang Jing Guo Hao Liang Zhijie Lin Liqiang Zhang School of Automation Guangdong University of Technology GuangZhou China School of Electronics and Communication Guangdong Mechanical and Electrical Polytechnic Guangzhou China Beijing Research Institute of Automation for Machinery Industry Beijing China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

In Traditional Chinese Medicine (TCM), acupuncture localization plays a crucial role in the adjunctive prevention and treatment of various diseases. Traditional localization methods rely on anatomical knowledge and experience, but they are limited in accuracy and labor-intensive. Recently, deep learning techniques have emerged in the medical field due to advancements in computer networks, offering new avenues for acupoint localization. Inspired by the success of deep learning in medical imaging, we propose a Lightweight Efficient Channel Attention (LECA) network for acupoint localization. Specifically, MobileNetV2, a representative lightweight network, is adopted as the backbone of the LECA network to construct an efficient acupoint localization network with high accuracy. Additionally, Efficient Channel Attention (ECA) is integrated to enhance feature extraction capabilities. LECA network effectively improves the accuracy rate and reduces the number of parameters, and the average accuracy on the test image dataset reaches 87.7%, which is better than other existing deep learning methods.

关键词： Location awareness Deep learning Measurement Accuracy Prevention and mitigation Feature extraction Computer networks informatics Biomedical imaging Diseases

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Dynamic Modeling and controlling for the Crawling Motion of the 6-strut Tensegrity Robot

Dynamic Modeling and Controlling for the Crawling Motion of ...

引用

IEEE international conference on Cyber Technology in automation, control, and Intelligent Systems

作者： Bin Li Wenjuan Du Wenyuan Liu State Key Laboratory of Robotics Chinese Academy of Sciences Shenyang Institute of Automation Shenyang China

ISBN: (纸本)9781538604915

the 6-strut tensegrity robot (TR-6) is a novel deformable mobile robot, and it can generate different gaits by self-deformation to adapt to various terrains. As the shape of the TR-6 is similar to a sphere, unexpected falling often occur when the robot is climbing a slope with rolling gait. By self-deformation, the TR-6 can generate crawling gait and move forward steady. As the topology of the TR-6 is complicated, the components of the structure are highly coupled, and the TR-6 is a multi-input system, there is no existed method for solving the control problem of the crawling gait for TR-6. this paper presents a control method for the crawling gait of TR-6 based on the genetic algorithm (GA). Firstly, a dynamic model of the TR-6 is built by the Newton-Euler method. Secondly, based on the TR-6 dynamic model, an optimal initial configuration and the range of the control parameters for avoiding the unexpected rolling during crawling motion are determined. Lastly, by converting the multi-input control problem to an optimization problem and solving the optimization problem by GA, a group of control parameters are chosen to control the TR-6 crawl forward steady and fast. the control method is realized by C++ code, and a group of control parameters are given by the numerical simulation. the experiments verifies the result of simulation.

关键词： Force Robots Dynamics Genetic algorithms Mathematical model Optimization Actuators Robot creeping control parameter Genetic Algorithm (GA) actuators Mathematical Model Force control Methods Gait dynamics Standing Orders Locomotion Simulation results Component architectures input system

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A Robust Color Image Zero-Watermarking Based on SURF and DCT Features 6th

A Robust Color Image Zero-Watermarking Based on SURF and DCT...

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6th international conference on Artificial Intelligence and Security,ICAIS 2020

作者： Nawaz, Saqib Ali Li, Jingbing Bhatti, Uzair Aslam Li, Hui Han, Baoru Mehmood, Anum Ahmed, Raza M. Shoukat, Muhammad Usman Zhou, Jingjun College of Information and Communication Engineering Hainan University Haikou570228 China State Key Laboratory of Marine Resource Utilization in the South China Sea Hainan University HaikouHainan570228 China Key Laboratory of Virtual Geographic Environment MOE Nanjing Normal University Nanjing210023 China Department of Biochemistry and Molecular Biology Hainan University Haikou570228 China School of Automation and Information Sichuan University of Science and Engineering Yibin644000 China College of Medical Informatics Chongqing Medical University Chongqing400016 China

ISBN: (纸本)9789811580857

For most of the current watermarking algorithms, a multi-function color image that can simultaneously perform copyright protection and content authentication is proposed as Dual watermarking algorithm. First, the original image is converted from RGB space to YUV space, and the SURF (speeded up robust feature) of the luminance component is extracted. the marker points, constructs a description vector according to the main direction of the feature point and splits it into two sub-vectors, respectively calculating the cosine clip between them and a reference vector Angle, construct a robust zero watermark sequence by comparing the size relationship of the angles;then 2 × 2 the original image, and the singular value norm of the sub-image block. the XOR operation is performed to generate fragile watermark information and embed it into the least significant bit of the image space. By calculating the original robust zero water at the time of copyright attribution. the correlation coefficient between the printed sequence and the watermark sequence extracted from the image to be detected is used as the basis for identification, and the content authentication is passed. Experimental results show that the proposed algorithm has good performance. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Copyrights

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Synchronization of Delayed Neural Networks via Self-Triggered Impulsive control Strategy

Synchronization of Delayed Neural Networks via Self-Triggere...

引用

international conference on Electronic Engineering and informatics (EEI)

作者： Fei Chang Chuandong Li Yinghua Zhou College of Electronic and Information Engineering Southwest University Chongqing China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

this paper addresses the issue of asymptotic synchronization in delayed neural networks (DNNs) by designing a rational self-triggered impulsive control (STIC) strategy. By applying a Razumikhin-like comparison lemma, the presence of time delays in the system is considered, and a self-triggered mechanism (STM) is formulated to determine the impulsive interval based on the previous impulsive moment. Utilizing the developed STIC strategy, a set of sufficient conditions for achieving asymptotic synchronization of DNNs is established, with a proof ensuring the exclusion of the Zeno phenomenon. Compared to the event-triggered impulsive control (ETIC) strategy, this STIC strategy offers an advantage by predicting the next impulse occurrence based on the previous impulsive instant and available information, eliminating the need for continuous system state monitoring to verify triggering conditions. this strategy reduces communication costs and enhances resource utilization.

关键词： Sufficient conditions Costs Delay effects Neural networks Continuous time systems Trajectory Synchronization Resource management informatics Monitoring

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Robust Extended Kalman Filter for Graphical Nonlinear Systems with Hybrid Cyber-Attacks

Robust Extended Kalman Filter for Graphical Nonlinear System...

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international conference on Electronic Engineering and informatics (EEI)

作者： Simeng Guo Wenling Li School of Automation Science and Electrical Engineering Beihang University (BUAA) Beijing China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

this paper studies the extended Kalman filtering for graphical nonlinear systems with hybrid cyber-attacks. the considered system states and measurement outputs are generated based on graph structures, and the measurement signals are subject to denial-of-service attacks and deception attacks. In order to improve the filtering performance of graphical nonlinear systems subjected to hybrid cyber-attacks, we design an extended Kalman filter with a diagonal gain matrix in the graph frequency domain by means of the graph Fourier transform. the diagonal form of the gain matrix allows the states of each node to be updated independently, thus reducing the iterative accumulation error. Further, we introduce higher-order terms in the first-order Taylor expansion of the nonlinear function to compensate for the linearization error. Finally, we obtain the diagonal Kalman gain matrix by solving two Riccati-like equations. A simulation example on a power system validates the superior performance of the proposed filter against hybrid cyber-attacks.

关键词： Filtering Frequency-domain analysis Taylor series Mathematical models Hybrid power systems Kalman filters Iterative methods Nonlinear systems informatics Cyberattack

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Distributed Data-Driven Iterative Learning control for Consensus Tracking of MASs against Deception Attacks

Distributed Data-Driven Iterative Learning Control for Conse...

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international conference on Electronic Engineering and informatics (EEI)

作者： Runchang Zou Xuefang Li Deqing Huang School of Intelligent Systems Engineering shenzhen campus of Sun Yat-Sen University Shenzhen China School of Electrical Engineering Southwest Jiaotong University Chengdu China

ISBN: (数字)9798350353594

ISBN: (纸本)9798350353600

In the paper, we study the problem of distributed model-free adaptive iterative learning control (DMFAILC) for multiagent systems (MAS) under deception attacks. Firstly, we introduce an improved dynamic linearization technology in iteration domain to establish an equivalent data model of MASs. then, an attacks compensation strategy is developed to mitigate the impact of deception attacks. Subsequently, a DMFAILC scheme is developed based on input and output of the system model. Moreover, the convergence of the consensus tracking error is proved using the contraction mapping method. Finally, a simulation result is provided to verify the effectiveness of the developed DMFAILC scheme.

关键词： Adaptation models Network topology Simulation Data models Topology Nonlinear dynamical systems informatics Iterative learning control Convergence Multi-agent systems

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