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An Exoskeleton BCI System for Stroke Rehabilitation Using Multi-modality Training Mode

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An Exoskeleton BCI System for Stroke Rehabilitation Using Mu...

2023 International Automatic control Conference, CACS 2023

作者： Su, Kai-Hsiang Chen, Chiao-Hsin Chen, Chia-Hsin Zhang, Yong-Liang Ko, Li-Wei National Yang Ming Chiao Tung University Former National Chiao Tung University Institute of Biological Science and Technology Hsinchu30010 Taiwan National Yang Ming Chiao Tung University Former National Chiao Tung University Institute of Molecular Medicine and Bioengineering Hsinchu30010 Taiwan Medical University Chung-Ho Memorial Hospital Rehabilitation Department of Kaohsiung Taiwan College of Biological Science and Technology Hsinchu30010 Taiwan National Yang Ming Chiao Tung University Former National Chiao Tung University Institute of Electrical and Control Engineering Hsinchu30010 Taiwan Brain Research Center Department of Electrical and Computer Engineering Hsinchu30010 Taiwan

ISBN: (纸本)9798350306354

With the advent of the global aging era, the impact of stroke on humans is continuously increasing. Therefore, new therapeutic approaches to enhance patient recovery are receiving growing attention. Stroke is a severe neurological disorder that causes brain damage, requiring extended periods of rehabilitation for patients to return to normal life. Currently, common clinical methods largely rely on traditional passive limb rehabilitation, primarily targeting peripheral nerve training. Nowadays, an increasing number of people are recognizing the importance of post-stroke neuroplasticity. This study aims to activate patients' central nervous system and proposes a brain-machine interface (BCI) exoskeleton system based on human cognition. By designing three cognitive brainwave training models, including an attention-based standing-up model detecting θ-band power decrease, a relaxation-based sitting-down model detecting α-band power increase, and a walking model detecting MRCP, patients can actively control lower limb exoskeleton movement using *** study provides cross-validation accuracy through both normal subjects and stroke patients, with accuracies of 87.13±9.38 and 80.83±9.68, respectively. Envisioning a rehabilitation system guided by human cognition, our team has developed an intuitive BCI exoskeleton system. © 2023 IEEE.

关键词： Brain

Linear Quadratic Guidance Law for Joint Motion Planning of a Pursuer-Turret Assembly

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arXiv 2024年

作者： Jha, Bhargav Bopardikar, Shaunak D. Von Moll, Alexander Casbeer, David Michigan State University East LansingMI48864 United States Air Force Research Laboratory WPAFB OH45433 United States Department of Electrical and Computer Engineering Michigan State University United States Control Science Center 2210 8th St.

This paper presents joint motion planning of a vehicle with an attachedrotating turret. The turret has a limited range as well as the field of *** objective is capture a maneuvering target such that at the terminal time itis withing the field-of-view and range limits. Catering to it, we present aminimum effort guidance law that commensurate for the turn rate abilities ofthe vehicle and the turret. The guidance law is obtained using linearizationabout the collision triangle and admits an analytical solution. Simulationresults are presented to exemplify the cooperation between the turret and thevehicle. © 2024, CC BY.

关键词： Motion planning

Predictor-Based Constrained Fixed-Time Sliding Mode control of Multi-Uav Formation Flight

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SSRN

SSRN 2024年

作者： Khodaverdian, Maria Hajshirmohamadi, Shahram Hakobyan, Aleksandr Ijaz, Salman Center for Scientific Innovation and Education Aerial Robotics Laboratory of National Polytechnic University of Armenia Yerevan Armenia Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan84156-83111 Iran Key Laboratory of More Electric Aircraft and Control System Lab University of Nottingham Ningbo China

In this work, a predictor-based fixed-time sliding mode control is designed to tackle the problem of achieving precise trajectory tracking control of multiple unmanned aerial vehicles formation flight. The proposed approach simultaneously addresses various practical requirements, such as optimality, constraints, fixed-time convergence, external interferences, and computational ***, a constrained performance index is constructed based on the prediction of the fixed-time sliding surface, the reaching law, and the control input. Secondly, optimal control input is calculated by solving the constrained quadratic optimization problem. An outstanding feature of this study is the theoretical guarantee of closed-loop system stability in the presence of external disturbances and ***, the comparative evaluation with sliding mode predictive control law and fixed-time sliding mode control methods demonstrates that the proposed approach achieves a straightforward control method with improved performance and acceptable accuracy. Finally, a test is conducted to demonstrate the algorithm's potential for hardware implementation by employing Hardware-in-the-Loop (HIL) test. © 2024, The Authors. All rights reserved.

关键词： Sliding mode control

State Estimation for Asynchronously Switched Sampled-Data Systems

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State Estimation for Asynchronously Switched Sampled-Data Sy...

IEEE Conference on Decision and control

作者： Sharad C. Shankar Guosong Yang João P. Hespanha Center for Control Dynamical Systems and Computation University of California Santa Barbara CA USA Department of Electrical and Computer Engineering Rutgers University–New Brunswick Piscataway NJ USA

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

Asynchronously switched sampled-data systems can help model power systems and vehicles that evolve in continuous-time with switching behavior and discrete time measurements. We address the problem of jointly estimating a switching signal, with uncertainty in the exact switching times, as well as the continuous states of the system. We prove stability of the standard Kalman Filter under uncertainty in the switching times, with statistical bounds relating to the sampling period. We then propose a method for estimation of switching times as well as a method for efficient joint estimation of the state and switching signal inspired by the interacting multiple-model extended-Viterbi algorithm. We validate our algorithms in simulation for a power converter and a maneuvering vehicle.

关键词： Uncertainty Heuristic algorithms Power system dynamics Switches Power system stability Filtering algorithms Sampled data systems

Global Finite Time Stabilization of SISO Hurwitz Linear Systems Subject to Actuator Saturation: The Case of Real Eigenvalues

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Global Finite Time Stabilization of SISO Hurwitz Linear Syst...

American control Conference (ACC)

作者： Tan Hou Yuanlong Li Zongli Lin Department of Automation Shanghai Jiao Tong University Shanghai P. R. China Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai P. R. China Shanghai Engineering Research Center of Intelligent Control and Management Shanghai P. R. China Charles L. Brown Department of Electrical and Computer Engineering University of Virginia Charlottesville VA U.S.A.

ISBN: (数字)9798350382655

ISBN: (纸本)9798350382662

This paper considers the global finite time stabilization of linear systems subject to actuator saturation. We show that a controllable SISO system whose eigenvalues are real and negative can be globally stabilized in finite time by a homogeneous feedback law. To obviate numerical issues, this homogeneous feedback law is implemented by discretizing a compact set. Numerical simulation validates the effectiveness of the proposed approach.

关键词： Linear systems Actuators Numerical simulation control systems Eigenvalues and eigenfunctions

Stealthy Attacks on Sampled-Data control and Encryption-Based Countermeasures

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IEEE Transactions on Automatic control 2025年

作者： Shang, Jun Li, Yuzhe Chen, Tongwen Tongji University Department of Control Science and Engineering Shanghai Institute of Intelligent Science and Technology National Key Laboratory of Autonomous Intelligent Unmanned Systems Frontiers Science Center for Intelligent Autonomous Systems Shanghai200092 China Northeastern University State Key Laboratory of Synthetical Automation for Process Industries Shenyang110004 China University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 1H9 Canada

This paper investigates stealthy attacks on sampled-data control systems, where a continuous process is sampled periodically, and the resultant discrete output and control signals are transmitted through dual channels in wireless communication networks. Acknowledging the vulnerability of these transmitted data to cyber threats, we analyze two types of stealthy attacks that compromise either one or both channels. We explicitly present the necessary and sufficient conditions for the existence of stealthy single-channel attacks. To mitigate these security risks, we implement encryption-based countermeasures, including linear time-invariant and periodic encryption methods. We detail sufficient conditions under which these encryption strategies effectively thwart single- and dual-channel stealthy attacks. The effectiveness of these approaches and the theoretical findings are demonstrated through numerical simulations. © 1963-2012 IEEE.

关键词： Cyber attacks

Deception in Differential Games: Information Limiting Strategy to Induce Dilemma

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arXiv 2024年

作者： Shishika, Daigo Moll, Alexander Von Maity, Dipankar Dorothy, Michael Department of Mechanical Engineering George Mason University FairfaxVA22030 United States Control Science Center Air Force Research Laboratory WPAFB OH45433 United States Department of Electrical and Computer Engineering University of North Carolina CharlotteNC28223 United States Army Research Directorate DEVCOM Army Research Laboratory APG MD20783 United States

Can deception exist in differential games? We provide a case study for a Turret-Attacker differential game, where two Attackers seek to score points by reaching a target region while a Turret tries to minimize the score by aligning itself with the Attackers before they reach the target. In contrast to the original problem solved with complete information, we assume that the Turret only has partial information about the maximum speed of the Attackers. We investigate whether there is any incentive for the Attackers to move slower than their maximum speed in order to "deceive" the Turret into taking suboptimal actions. We first describe the existence of a dilemma that the Turret may face. Then we derive a set of initial conditions from which the Attackers can force the Turret into a situation where it must take a guess. © 2024, CC BY.

关键词： Game theory

Optimal Evasion from a Sensing-Limited Pursuer

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arXiv 2024年

作者： Maity, Dipankar Von Moll, Alexander Shishika, Daigo Dorothy, Michael The Department of Electrical and Computer Engineering University of North Carolina at Charlotte NC28223 United States The Control Science Center Air Force Research Laboratory WPAFB OH45433 United States The Department of Mechanical Engineering George Mason University FairfaxVA22030 United States The Army Research Directorate DEVCOM Army Research Laboratory APG MD20783 United States

This paper investigates a partial-information pursuit evasion game in which the Pursuer has a limited-range sensor to detect the Evader. Given a fixed final time, we derive the optimal evasion strategy for the Evader to maximize its distance from the pursuer at the end. Our analysis reveals that in certain parametric regimes, the optimal Evasion strategy involves a ‘risky’ maneuver, where the Evader’s trajectory comes extremely close to the pursuer’s sensing boundary before moving behind the Pursuer. Additionally, we explore a special case in which the Pursuer can choose the final time. In this scenario, we determine a (Nash) equilibrium pair for both the final time and the evasion strategy. Copyright © 2024, The Authors. All rights reserved.

关键词： Machine learning

Distributed design of deterministic discrete-time privacy preserving average consensus for multi-agent systems through network augmentation

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arXiv 2021年

作者： Ramos, Guilherme Pedro Aguiar, A. Kar, Soummya Pequito, Sérgio The Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Portugal The Department of Electrical and Computer Engineering Carnegie Mellon University United States The Delft University of Technology The Delft Center for Systems and Control Netherlands

Average consensus protocols emerge with a central role in distributed systems and decision-making such as distributed information fusion, distributed optimization, distributed estimation, and control. A key advantage of these protocols is that agents exchange and reveal their state information only to their neighbors. Yet, it can raise privacy concerns in situations where the agents' states contain sensitive information. In this paper, we propose a novel (noiseless) privacy preserving distributed algorithms for multi-agent systems to reach an average consensus. The main idea of the algorithms is that each agent runs a (small) network with a crafted structure and dynamics to form a network of networks (i.e., the connection between the newly created networks and their interconnections respecting the initial network connections). Together with a re-weighting of the dynamic parameters dictating the inter-agent dynamics and the initial states, we show that it is possible to ensure that the value of each node converges to the consensus value of the original network. Furthermore, we show that, under mild assumptions, it is possible to craft the dynamics such that the design can be achieved in a distributed fashion. Finally, we illustrate the proposed algorithm with examples. Copyright © 2021, The Authors. All rights reserved.

关键词： Multi agent systems