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arXiv 2018年

作者： Etxegarai, Urtats Portillo, Eva Irazusta, Jon Arriandiaga, Ander Cabanes, Itziar Department of Automatic Control and System Engineering Faculty of Engineering University of Basque Country BilbaoUPV/EHU Spain Department of Physiology Faculty of Medicine and Nursing University of Basque Country LeioaUPV/EHU Spain

Lactate threshold is considered an essential parameter when assessing performance of elite and recreational runners and prescribing training intensities in endurance sports. However, the measurement of blood lactate concentration requires expensive equipment and the extraction of blood samples, which are inconvenient for frequent monitoring. Furthermore, most recreational runners do not have access to routine assessment of their physical_tness by the aforementioned equipment so they are not able to calculate the lactate threshold without resorting to an expensive and specialized center. Therefore, the main objective of this study is to create an intelligent system capable of estimating the lactate threshold of recreational athletes participating in endurance running sports. The solution here proposed is based on a machine learning system which models the lactate evolution using recurrent neural networks and includes the proposal of standardization of the temporal axis as well as a modi_cation of the strati_ed sampling method. The results show that the proposed system accurately estimates the lactate threshold of 89.52% of the athletes and its correlation with the experimentally measured lactate threshold is very high (R=0,89). Moreover, its behaviour with the test dataset is as good as with the training set, meaning that the generalization power of the model is high. Therefore, in this study a machine learning based system is proposed as alternative to the traditional invasive lactate threshold measurement tests for recreational runners. Copyright © 2018, The Authors. All rights reserved.

关键词： Sports

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Similitude design for the vibration problems of plates and shells： A review

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Frontiers of Mechanical engineering 2017年第2期12卷 253-264页

作者： Yunpeng ZHU You WANG Zhong LUO Qingkai HAN Deyou WANG Department of Automatic Control and System Engineering SheffieldUniversity Sheffield S13JD UK School of Mechanical Engineering and Automation NortheasternUniversity Shenyang 110819 China School of Mechanical Engineering Dalian University of TechnologyDalian 116023 China AECC Shenyang Aero-engine Institute Shenyang 110042 China

Similitude design plays a vital role in the analysis of vibration and shock problems encountered in large engineering equipment. Similitude design, including dimensional analysis and governing equation method, is founded on the dynamic similitude theory. This study reviews the application of similitude design methods in engineering practice and summarizes the major achieve- ments of the dynamic similitude theory in structural vibration and shock problems in different fields, including marine structures, civil engineering structures, and large power equipment. This study also reviews the dynamic similitude design methods for thin-walled and composite material plates and shells, including the most recent work published by the authors. Structure sensitivity analysis is used to evaluate the scaling factors to attain accurate distorted scaling laws. Finally, this study discusses the existing problems and the potential of the dynamic similitude theory for the analysis of vibration and shock problems of structures.

关键词： review dynamic similitude vibration modeltest

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Axially and Radially Expandable Modular Helical Soft Actuator for Robotic Implantables

Axially and Radially Expandable Modular Helical Soft Actuato...

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IEEE International Conference on Robotics and Automation

作者： Eduardo R. Perez-Guagnelli Sarunas Nejus Jian Yu Shuhei Miyashita YanQiang Liu Dana D. Damian Automatic Control and System Engineering Department University of Sheffield UK School of Mechanical Engineering and Automation Beihang University China Department of Electronic Engineering University of York UK Centre of Assistive Technology and Connected Healthcare University of Sheffield UK

Soft robotics has advanced the field of biomedical engineering by creating safer technologies for interfacing with the human body. One of the challenges in this field is the realization of modular soft basic constituents and accessible assembly methods to increase the versatility of soft robots. We present a soft pneumatic actuator composed of two elastomeric strands that provide interdependent axial and radial expansion due to the modularity of the components and their helical arrangement. The actuator reaches 35% of elongation with respect to its initial height and both chambers achieve forces of 1N at about 19kPa. We describe the design, fabrication, modeling and benchtop testing of the soft actuator towards realizing 3D functional structures with potential medical applications. An example of application for soft medical robots is tissue regenerative for the long-gap esophageal atresia condition.

关键词： Actuators Implants Soft robotics Esophagus Surgery Mathematical model

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Energy Efficiency of Hybrid-Power HetNets: A Population-like Games Approach

Energy Efficiency of Hybrid-Power HetNets: A Population-like...

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2018 Annual American control Conference, ACC 2018

作者： Fletscher, L.A. Barreiro-Gomez, J. Ocampo-Martinez, C. Maestre, J.M. Valencia Peroni, C. Facultad de Ingeniería Universidad de Antioquia UdeA Departamento de Ingeniería Electrónica y Telecomunicaciones Medellín Colombia New York University Abu Dhabi Learning Game Theory Laboratory United Arab Emirates Automatic Control Department Barcelona Spain School of Engineering Universidad de Sevilla System Engineering and Automation Department Seville Spain Universidad Nacional de Colombia Process and Energy Department Medellín Colombia

ISBN: (纸本)9781538654286

In this paper, a distributed control scheme based on population games is proposed. The controller is in charge of dealing with the energy consumption problem in a Heterogeneous Cellular Network (HetNet) powered by hybrid energy sources (grid and renewable energy) while guaranteeing appropriate quality of service (QoS) level at the same time. Unlike the conventional approach in population games, it considers both atomicity and non-anonymity. Simulation results show that the proposed population-games approach reduces grid consumption by up to about 12% compared to the traditional best-signal level association policy. © 2018 AACC.

关键词： Games Energy consumption Sociology Statistics Base stations Cellular networks Optimization"

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Distributed Coverage Optimization and control with Applications to Precision Agriculture

Distributed Coverage Optimization and Control with Applicati...

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Chinese control Conference (CCC)

作者： Jun Zhang Hilton Tnunay Chunyan Wang Xinguang Lyu Zhengtao Ding Beijing Aerospace Automatic Control Institute Beijing China School of Electrical and Electronic Engineering University of Manchester Manchester UK School of Aerospace Engineering Beijing Institute of Technology Beijing China Sino-British Joint Advanced Control System Technology Laboratory University of Manchester Manchester UK

In this paper, distributed coverage optimization and control problem with collision avoidance and parameter estimation are studied. First, we consider the case that the density function φ(q) is known by all the robots in the network. By using the interaction term of Voronoi neighbour, coverage optimization and control protocols are designed in a distributed way such that the best position of each robot can be determined and all the robots can move to the best positions without collision. Then, we consider the case that the density function φ(q) is not known by the robots. By using the adaptive technique, the density function φ(q) can be estimated in a fast and distributed way. Finally, the proposed coverage control scheme are applied to remote sensing for precision farming and the effectiveness of the strategy is validated through some simulation results.

关键词： Collision avoidance Robot sensing systems Density functional theory Optimization Robot kinematics

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Strategy of Defending UAVs by Interfering Path Planning

Strategy of Defending UAVs by Interfering Path Planning

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IEEE Chinese Guidance, Navigation and control Conference (CGNCC)

作者： Jiaqi Li Zhuanghua Liu Lipeng Wang Yang Liu Department of Automatic Control Beihang University Beijing China China Aerospace Science and Technology Corporation The 9th Academy Beijing Aerospace Unmanned Vehicles System Engineering Research Institute Beijing China

ISBN: (数字)9781538611715

ISBN: (纸本)9781538611722

This paper proposes the problem of how to maximize the defensive effect by setting up defensive facilities given the path planning method of the enemy's UAV, and made validations and analysis on the commonly used RRT path planning algorithm. From the simulation experiments, some factors that affect the results of the path planning are summarized. We measure the defensive effect by defining the metric E, and discuss the factors that may affect the metric. Finally, by summarizing the impacts of the distribution of defensive facilities on the path planning results under the RRT algorithm, two kinds of trapping schemes for RRT algorithms are proposed, and the experiments also show the effectiveness of these schemes.

关键词： Path planning Planning Measurement Heuristic algorithms Aerospace engineering Market research Electronic mail

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Blind users' assistive technology based on the Android platform

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International Journal of Innovative Computing and Applications 2017年第3期8卷 162-171页

作者： Al-Nabulsi, Jamal Ma'touq, Jumana Abdallah, Emad E. Haloubi, Tarek Manasra, Ali Biomedical Engineering Department Faculty of Engineering Hashemite University Jordan Al-Ahliyya Amman University Amman19328 Jordan Institute of Automatic Control Leibniz Universität Hannover Germany Department of Computer Information System Faculty of Information Technology Hashemite University Jordan Biomedical Engineering Department Faculty of Engineering Al-Ahliyya Amman University Jordan

Because of the wide use of smartphones in our daily activities, a wide range of mobile applications have been developed to serve as assistive technologies. However, there is a lack of applications in the Arabic language to assist disabled people. The main aim of this paper is to build a simple yet accurate Arabic language application that is capable of helping blind users in real-Time. In the proposed technology, the blind user captures a photo and records his/her voice inquiry. The query is instantly sent with the captured photo to a set of volunteers. The volunteers answer the blind user enquiries and send the answers back. Fifteen visually impaired persons and ten volunteers were used in the experimental testing. The scenarios were carefully created based on realistic situations. The subjects were then asked to answer a questionnaire to test if their queries were answered effectively and efficiently. The early results are promising because all blind users found the proposed technology useful and 80% of them wanted to use it on a daily basis. In addition, all volunteers found the application easy to use with clear instructions and 80% of them were excited about using it to assist blind users. Copyright © 2017 Inderscience Enterprises Ltd.

关键词： Mobile computing

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Flexible Bearing-Only Rendezvous control of Mobile Robots 36

Flexible Bearing-Only Rendezvous Control of Mobile Robots

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第36届中国控制会议

作者： Shiyu Zhao Ronghao Zheng Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom College of Electrical Engineering Zhejiang University Zhejiang Prov. Mar. Renewable Energy Electrical Equipment and System Technology Research Laboratory China

ISBN: (纸本)9781538629185

In this paper we study rendezvous control of multiple mobile *** propose a control law that merely requires each robot to measure the relative bearings of their neighbors in their local coordinate *** measurement or relative position estimation is not *** theory,the proposed control law verifies that distance information is redundant in rendezvous control tasks though the objective of rendezvous is to decrease the inter-robot *** practice,the control law provides a simple solution to vision-based rendezvous tasks where bearings can be measured by visual ***,we generalize the proposed control law by introducing an additional heading vector into the control *** heading vector may preserve the system convergence and,in the meantime,provides great flexibility to adapt the control law for nonholonomic robot models or obstacle avoidance.

关键词： frame Flexible Bearing-Only Rendezvous control of Mobile Robots Mobile

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Towards conformant models of automated electric vehicles

Towards conformant models of automated electric vehicles

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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

作者： Ray Lattarulo Daniel Heß Jose A. Matute Joshue Perez Automatic Control and System Engineering Department University of the Basque Country Bilbao Spain Deutsches Zentrum fur Luft und Raumfahrt Berlin Berlin DE Industry and Transport Division Tecnalia Research & Innovation San Sebastian Spain

Automated driving is one of the major tendencies in last decades, and it is presented as a reliable option to improve comfort during driving, including disable and elder in society and increasing persons safety in roads. This last topic produces the question how is it possible to verify planning and control algorithms for a reliable commercial use of this technology. The question can be answered from two perspective: experimental or formal methods, where the formal one is selected as the most robust between both. Hence, the current work presents a case study verification in automated driving for lane change and double lane change maneuvers, using as basis a trace conformance method presented in [1]. The verification method is performed in Dynacar as a precise multibody simulator tuned for a commercial Renault Twizy vehicle.

关键词： Trajectory Wheels Mathematical model Bicycles Acceleration Computer architecture Tires

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Distributed formation control for a leader-follower structure on directed graphs with a model unknown leader

Distributed formation control for a leader-follower structur...

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Chinese control Conference

作者： Yuanjin Yu Chunyan Wang Zhenqiang Qi Zhengtao Ding Xin Yin Sino-British Joint Advanced Control System Technology Laboratory James Lighthill Building Manchester UK School of Aerospace Engineering Beijing Institute of Technology Beijing P. R. China Beijing Aerospace Automatic Control Institute Beijing P. R. China

To deal with leader-follower formation of multi-agent systems with a leader whose dynamics are unknown, a consensus based method is presented to achieve formation keeping for a directed graph. We divide the followers into two parts according to path distance. For the followers connected to the leader, a state-feedback regulation is applied. Then the directed graph is reconstructed and a consensus based method is designed. The controller is implemented in a fully distributed form because each follower only uses the relative and local information. Finally, numerical simulations applying this method to time-varying formation and trajectory tracking are performed. The results validate the effectiveness of the proposed method.

关键词： Topology Multi-agent systems Vehicle dynamics Electronic mail control systems Space vehicles Laplace equations

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