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RSI/ISM International Conference on Robotics and Mechatronics (ICROM)

作者： Mohammad A. Khosravi Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

In this paper robust PID control of fully-constrained cable-driven robots with elastic cables is studied in detail. To develop the idea, a robust PID control for cable-driven robots with ideal rigid cables is firstly designed and then, this controller is extended for the robots with elastic cables. To overcome vibrations caused by inevitable elasticity of cables, a composite control law is proposed based on singular perturbation theory. The proposed control algorithm includes robust PID control for corresponding rigid model and a corrective term. Using the proposed control algorithm the dynamics of the cable-driven robot is divided into slow and fast subsystems. Then, based on the results of singular perturbation theory, stability analysis of the total system is performed. Finally, the effectiveness of the proposed control law is investigated through several simulations on a planar cable-driven robot.

关键词： Robustness Robots Linear matrix inequalities

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Using general sound descriptors for early autism detection

Using general sound descriptors for early autism detection

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Asian control Conference

作者： Seyyed Hamid R. Ebrahimi Motlagh Hadi Moradi Hamidreza Pouretemad Advanced Robotics and Intelligent Systems Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran ARIS and CIPCE School of ECE College of Engineering University of Tehran Iran Shahid Beheshti University Tehran Tehran IR

ISBN: (纸本)9781467357661

Early detection of autism is crucial for successfully dealing with it and reduce/eliminate its effects. In other words, early treatment can make a big difference in the lives of many children with this disorder. Consequently, in this study the pattern recognition algorithms are used to determine the unique features of the voice of autistic children to distinguish between the autistic children and normal children between ages 2 and 3. These descriptors extract various audio features such as temporal features, energy features, harmonic features, perceptual and spectral features. Two feature selection methods are used and the results are compared. One method is based on comparing the effect of using all of a group features together and another method compares the effect of using features one by one. The selected features are used to classify selected children into autistic and non-autistic ones. The results show 96.17 percent accuracy. After feature selection, we classified data using S.V.M classifier for recognizing two types of input data.

关键词： Autism Feature extraction Mel frequency cepstral coefficient Educational institutions Harmonic analysis Accuracy Motion pictures

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Cooperative train control for energy-saving

Cooperative train control for energy-saving

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IEEE International Conference on Intelligent Rail Transportation (ICIRT)

作者： Shuai Su Tao Tang Clive Roberts Ling Huang Traffic Control and Safety Beijing Jiaotong University China School of Electronic Electrical and Computer Engineering University of Birmingham UK Ministry of Science and Technology of High Technology Research and Development Center China

Energy efficiency is paid more and more attention in subway systems to reduce the operational cost as well as ensure an environmentally friendly transportation mode. Optimization on the driving strategy and efficient utilization of the regenerative energy are two effective methods to reduce the energy consumption in electric rail systems. This paper proposes a cooperative train control model to minimize the practical energy consumption, i.e., the difference between the traction energy of the successive train and the reused energy from regeneration. Firstly, we design a numerical algorithm to calculate the optimal driving strategy with a given trip time, in which the variable traction forces, speed limits, and gradients are considered. Then we formulate a cooperative train control model to adjust the trip time of the successive train for efficient use of the regenerative energy. Finally, the optimal driving strategy of the following trip is obtained for the successive train with the optimal departure time. Furthermore, some case studies based on the Beijing Yizhuang subway line are presented to illustrate the effectiveness of the proposed approach on energy-saving.

关键词： Energy consumption Acceleration Numerical models Switches Force Mathematical model Educational institutions

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control-oriented Averaging of Tail-actuated Robotic Fish Dynamics

Control-oriented Averaging of Tail-actuated Robotic Fish Dyn...

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American control Conference

作者： Jianxun Wang Songlin Chen Xiaobo Tan Smart Microsystems Laboratory Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 USA Control and Simulation Center Harbin Institue of Technology Harbin 150001 China

ISBN: (纸本)9781479901777

Motivated by the need for efficient control design, in this paper we consider the averaging of dynamics for a tail-actuated robotic fish, based on an experimentally validated dynamic model that incorporates rigid body dynamics and Lighthill's large-amplitude elongated-body theory. We first show that classical averaging theory fails in this case because of the relatively large oscillatory input in the driving terms. On the other hand, while the first-order geometric averaging method for systems with highly oscillatory inputs is able to capture the original time-dependent dynamics, the resulting average model is overly complex for controller design. We propose a novel control-oriented, data-driven averaging approach for robotic fish dynamics, where a scaling function is introduced on top of the classical averaging method. We run extensive simulations for different combinations of tail-beat bias, amplitude, and frequency, and find that the scaling function is constant for the force equations and varies linearly with the tail-beat bias for the moment equation. The validity of the resulting average model has been confirmed in simulation results for open-loop dynamics with new sets of tail-beat parameters, and for closed-loop dynamics when proportional control of the tail-beat bias is used in target tracking.

关键词： averaging scaling function dynamics moment equation Proportional control Target tracking design control Statistical Biases bias(electronics)

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Postprocessing for quantum random-number generators: Entropy evaluation and randomness extraction

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Physical Review A 2013年第6期87卷 062327-062327页

作者： Xiongfeng Ma Feihu Xu He Xu Xiaoqing Tan Bing Qi Hoi-Kwong Lo Center for Quantum Information Institute for Interdisciplinary Information Sciences Tsinghua University Beijing China Center for Quantum Information and Quantum Control Department of Physics and Department of Electrical and Computer Engineering University of Toronto Toronto Ontario Canada Department of Mathematics College of Information Science and Technology Jinan University Guangzhou Guangdong China

Quantum random-number generators (QRNGs) can offer a means to generate information-theoretically provable random numbers, in principle. In practice, unfortunately, the quantum randomness is inevitably mixed with classical randomness due to classical noises. To distill this quantum randomness, one needs to quantify the randomness of the source and apply a randomness extractor. Here, we propose a generic framework for evaluating quantum randomness of real-life QRNGs by min-entropy, and apply it to two different existing quantum random-number systems in the literature. Moreover, we provide a guideline of QRNG data postprocessing for which we implement two information-theoretically provable randomness extractors: Toeplitz-hashing extractor and Trevisan's extractor.

关键词： Entropy

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Proceedings of the 8th Annual Conference on the Science of Dissemination and Implementation : Washington, DC, USA. 14-15 December 2015

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Implementation science : IS 2016年第2期11 Suppl 2卷 100页

作者： Chambers, David Simpson, Lisa Hill-Briggs, Felicia Neta, Gila Vinson, Cynthia Beidas, Rinad Marcus, Steven Aarons, Gregory Hoagwood, Kimberly Schoenwald, Sonja Evans, Arthur Hurford, Matthew Rubin, Ronnie Hadley, Trevor Barg, Frances Walsh, Lucia Adams, Danielle Mandell, David Martin, Lindsey Mignogna, Joseph Mott, Juliette Hundt, Natalie Kauth, Michael Kunik, Mark Naik, Aanand Cully, Jeffrey McGuire, Alan White, Dominique Bartholomew, Tom McGrew, John Luther, Lauren Rollins, Angie Salyers, Michelle Cooper, Brittany Funaiole, Angie Richards, Julie Lee, Amy Lapham, Gwen Caldeiro, Ryan Lozano, Paula Gildred, Tory Achtmeyer, Carol Ludman, Evette Addis, Megan Marx, Larry Bradley, Katharine VanDeinse, Tonya Wilson, Amy Blank Stacey, Burgin Powell, Byron Bunger, Alicia Cuddeback, Gary Barnett, Miya Stadnick, Nicole Brookman-Frazee, Lauren Lau, Anna Dorsey, Shannon Pullmann, Michael Mitchell, Shannon Schwartz, Robert Kirk, Arethusa Dusek, Kristi Oros, Marla Hosler, Colleen Gryczynski, Jan Barbosa, Carolina Dunlap, Laura Lounsbury, David O’Grady, Kevin Brown, Barry Damschroder, Laura Waltz, Thomas Ritchie, Mona Atkins, David Imel, Zac E. Xiao, Bo Can, Doğan Georgiou, Panayiotis Narayanan, Shrikanth Berkel, Cady Gallo, Carlos Sandler, Irwin Brown, C. Hendricks Wolchik, Sharlene Mauricio, Anne Marie Mehrotra, Sanjay Chandurkar, Dharmendra Bora, Siddhartha Das, Arup Tripathi, Anand Saggurti, Niranjan Raj, Anita Hughes, Eric Jacobs, Brian Kirkendall, Eric Loeb, Danielle Trinkley, Katy Yang, Michael Sprowell, Andrew Nease, Donald Lyon, Aaron Lewis, Cara Boyd, Meredith Melvin, Abigail Nicodimos, Semret Liu, Freda Jungbluth, Nathanial Flynn, Allen Landis-Lewis, Zach Sales, Anne Baloh, Jure Ward, Marcia Zhu, Xi Bennett, Ian Unutzer, Jurgen Mao, Johnny Proctor, Enola Vredevoogd, Mindy Chan, Ya-Fen Williams, Nathaniel Green, Phillip Bernstein, Steven Rosner, June-Marie DeWitt, Michelle Tetrault, Jeanette Dziura, James Hsiao, Allen Sussman, Scott O’Connor, Patrick Toll, Benjamin Jones, Michael Gassaway, Julie Tobin, Jonathan Zatzic Division of Cancer Control and Population Sciences National Cancer Institute National Institutes of Health Rockville USA AcademyHealth Washington USA Department of Medicine and Welch Center for Prevention Epidemiology and Clinical Research Johns Hopkins Medical Institutions Baltimore USA Psychiatry University of Pennsylvania Philadelphia USA Family Medicine and Community Health University of Pennsylvania Philadelphia USA School of Social Policy and Practice University of Pennsylvania Philadelphia USA Psychiatry UC San Diego La Jolla USA Child & Adolescent Psychiatry The Child Study Center at NYU Langone Medical Center New York NY New York USA Psychiatry and Behavioral Sciences MUSC Charleston USA DBHIDS City of Philadelphia Philadelphia USA CBH City of Philadelphia Philadelphia USA Psychiatry University of Pennsylvania Perelman School of Medicine Philadelphia USA Health Services Research & Development Department of Veterans Affairs & Baylor College of Medicine Houston USA Treatment Core Department of Veterans Affairs Waco USA National Center for PTSD Executive Division Department of Veterans Affairs White River Junction USA HSR&D HSR&D Center for Health Information and Communication Roudebush VA Medical Center Indianapolis USA Psychology Indiana University Purdue University Indianapolis Indianapolis USA Department of Psychiatric Rehabilitation and Counseling Rutgers University Newark USA Health Services Research & Development Richard L. Roudebush VAMC Indianapolis USA IUPUI Department of Psychology ACT Center of Indiana Indianapolis USA Human Development Washington State University Pullman USA Prevention Science Washington State University Pullman USA Group Health Research Institute Group Health Seattle USA Behavioral Health Services Group Health Seattle USA Preventive Care Group Health Seattle USA Health Services Research & Development Primary and Specialty Medical Care Service VA Puget Sound Seattle USA School of Social Work Un

A1 Introduction to the 8th Annual Conference on the Science of Dissemination and Implementation: Optimizing Personal and Population Health David Chambers, Lisa Simpson D1 Discussion forum: Population health D&I research Felicia Hill-Briggs D2 Discussion forum: Global health D&I research Gila Neta, Cynthia Vinson D3 Discussion forum: Precision medicine and D&I research David Chambers S1 Predictors of community therapists’ use of therapy techniques in a large public mental health system Rinad Beidas, Steven Marcus, Gregory Aarons, Kimberly Hoagwood, Sonja Schoenwald, Arthur Evans, Matthew Hurford, Ronnie Rubin, Trevor Hadley, Frances Barg, Lucia Walsh, Danielle Adams, David Mandell S2 Implementing brief cognitive behavioral therapy (CBT) in primary care: Clinicians' experiences from the field Lindsey Martin, Joseph Mignogna, Juliette Mott, Natalie Hundt, Michael Kauth, Mark Kunik, Aanand Naik, Jeffrey Cully S3 Clinician competence: Natural variation, factors affecting, and effect on patient outcomes Alan McGuire, Dominique White, Tom Bartholomew, John McGrew, Lauren Luther, Angie Rollins, Michelle Salyers S4 Exploring the multifaceted nature of sustainability in community-based prevention: A mixed-method approach Brittany Cooper, Angie Funaiole S5 Theory informed behavioral health integration in primary care: Mixed methods evaluation of the implementation of routine depression and alcohol screening and assessment Julie Richards, Amy Lee, Gwen Lapham, Ryan Caldeiro, Paula Lozano, Tory Gildred, Carol Achtmeyer, Evette Ludman, Megan Addis, Larry Marx, Katharine Bradley S6 Enhancing the evidence for specialty mental health probation through a hybrid efficacy and implementation study Tonya VanDeinse, Amy Blank Wilson, Burgin Stacey, Byron Powell, Alicia Bunger, Gary Cuddeback S7 Personalizing evidence-based child mental health care within a fiscally mandated policy reform Miya Barnett, Nicole Stadnick, Lauren Brookman-Frazee, Anna Lau S8 Leveraging an existing

关键词： Veteran Affair Motivational Interview Qualitative Comparative Analysis Community That Care Supplemental Nutrition Assistance Program

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Robot Learning and Use of Affordances in Goal-directed Tasks

Robot Learning and Use of Affordances in Goal-directed Tasks

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IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Chang Wang Koen V. Hindriks Robert Babuska Interactive Intelligence Group Faculty of Electrical Engineering Mathematics and Computer Science Delft University of Technology 2628 CD Delft The Netherlands. Delft Center for Systems and Control Faculty of Mechanical Engineering Delft University of Technology 2628 CD Delft The Netherlands.

ISBN: (纸本)9781467363563

An affordance is a relation between an object, an action, and the effect of that action in a given environmental context. One key benefit of the concept of affordance is that it provides information about the consequence of an action which can be stored and reused in a range of tasks that a robot needs to learn and perform. In this paper, we address the challenge of the on-line learning and use of affordances simultaneously while performing goal-directed tasks. This requires efficient online performance to ensure the robot is able to achieve its goal fast. By providing conceptual knowledge of action possibilities and desired effects, we show that a humanoid robot NAO can learn and use affordances in two different task settings. We demonstrate the effectiveness of this approach by integrating affordances into an Extended Classifier System for learning general rules in a reinforcement learning framework. Our experimental results show significant speedups in learning how a robot solves a given task.

关键词： Goal-directed Tasks given environmental context perform Robot learning Affordances Robot Action Religious Missions Learning

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Quantum hacking of a continuous-variable quantum-key-distribution system using a wavelength attack

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Physical Review A 2013年第6期87卷 062329-062329页

作者： Jing-Zheng Huang Christian Weedbrook Zhen-Qiang Yin Shuang Wang Hong-Wei Li Wei Chen Guang-Can Guo Zheng-Fu Han Key Laboratory of Quantum Information University of Science and Technology of China Hefei 230026 China Center for Quantum Information and Quantum Control Department of Electrical and Computer Engineering and Department of Physics University of Toronto Toronto Ontario M5S 3G4 Canada

The security proofs of continuous-variable quantum key distribution are based on the assumptions that the eavesdropper can neither act on the local oscillator nor control Bob's beam splitter. These assumptions may be invalid in practice due to potential imperfections in the implementations of such protocols. In this paper, we consider the problem of transmitting the local oscillator in a public channel and propose a wavelength attack which allows the eavesdropper to control the intensity transmission of Bob's beam splitter by switching the wavelength of the input light. Specifically we target continuous-variable quantum key distribution systems that use the heterodyne detection protocol using either direct or reverse reconciliation. Our attack is proved to be feasible and renders all of the final keys shared between the legitimate parties insecure, even if they have monitored the intensity of the local oscillator. To prevent our attack on commercial systems, a simple wavelength filter should be randomly added before performing monitoring detection.

关键词： Quantum cryptography

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Optimized real-time soft analyzer for chemical process using artificial intelligence

Optimized real-time soft analyzer for chemical process using...

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Asian control Conference

作者： Mohammad Mahdi Karimi Alireza Fatehi Reza Ebrahimpour Ali Shamsaddinlou APAC research group Department of ControlEngineering Shahid Rajaee Teacher Training University Tehran Iran APAC research group Industrial Control Center of Excellence Faculty of Electrical Engineering K.N. Toosi University of Technology Tehran Iran Department of Electrical and Computer Engineering Shahid Rajaee Teacher Training University Tehran Iran

ISBN: (纸本)9781467357661

This paper concerns application of data-derived approaches for analyzing and monitoring chemical process instruments, extracting product information, and designing estimation models for primary process variables, or difficult to measure in real-time variables. Modeling of process with an optimized classical neural network, the multi-layer perceptron (MLP) is discussed. Tennessee Eastman Process, a well-known plant wide process benchmark, is applied to validate the proposed approach. Investigations and several algorithms as step response test, Lipschitz number method and forward selection are used. The main advancement introduced here is that a hierarchical level responsible strategy is applied for selection of input variables and respective efficient time delays to attain the highest possible prediction accuracy of the neural network model for industrial process identification.

关键词： Delay effects Process control Algorithm design and analysis Delays Biological system modeling Training Estimation

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Tuning and experimental evaluation of a likelihood-based engine knock controller

Tuning and experimental evaluation of a likelihood-based eng...

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IEEE Annual Conference on Decision and control

作者： Andreas Thomasson Lars Eriksson Tobias Lindell James C. Peyton Jones Jill Spelina Jesse Frey Division of Vehicular Systems at the Department of Electrical Engineering Linkoping University Linkoping SE-581 83 Sweden Center for Nonlinear Dynamics and Control and the Department of Electrical and Computer Engineering Villanova University Villanova PA 19085 USA Science Technology Engineering and Mathematics Division Delaware County Community College Media PA 19063 USA Department of Mathematics and Statistics Villanova University Villanova PA 19085 USA

ISBN: (纸本)9781467357159

A new likelihood-based stochastic knock controller, that achieves a significantly improved regulatory response relative to conventional strategies, while also maintaining a rapid transient response is presented. Up until now it has only been evaluated using simulations and the main contribution here is the implementation and validation of the knock controller on a five cylinder engine with variable compression ratio. Furthermore, an extension of the fast response strategy and a re-tuning of the controller is shown to improve performance. The controller is validated with respect to its robustness to changes in engine operating condition as well as compression ratio. The likelihood-based controller is demonstrated in engine tests and compared to a conventional controller and it is shown that it is able to operate closer to the knock limit with less variations in control action without increasing the risk of engine damage.

关键词： controllers tuning Engine knock compression ratio engine tests control action Engines

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