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Output consensus control for linear port-Hamiltonian systems

IFAC-PapersOnLine 2022年第30期55卷 230-235页

作者： Shuai Feng Yu Kawano Michele Cucuzzella Jacquelien M.A. Scherpen School of Automation Nanjing University of Science and Technology Nanjing 210094 China Graduate School of Advanced Science and Engineering Hiroshima University Higashi-Hiroshima 739-8527 Japan Department of Electrical Computer and Biomedical Engineering University of Pavia 27100 Pavia PV Italy Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen 9747 AG Groningen the Netherlands

In this paper, we study output consensus of coupled linear port-Hamiltonian systems on graphs in the presence of constant disturbances, where couplings are allowed to be both static and dynamic. Utilizing port-Hamiltonian structures, we present dynamic controllers achieving output consensus where the consensus values are determined by the disturbances. Finally, the utility of the proposed controller is illustrated by applying it to current sharing of DC microgrids.

关键词： port-Hamiltonian systems networked systems output consensus

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Social Presence in Evaluations for a Humanoid Robot and Its Effect on Children-Robot Relationship 23rd

Social Presence in Evaluations for a Humanoid Robot and Its ...

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23rd International Conference on Human-computer Interaction, HCII 2021

作者： Chen, Yi-Chen Gamborino, Edwinn Fu, Li-Chen Yueh, Hsiu-Ping Yeh, Su-Ling Department of Psychology National Taiwan University Taipei Taiwan Department of Electrical Engineering and Department of Computer Science and Information Engineering National Taiwan University Taipei Taiwan MOST Joint Research Center for AI Technology and All Vista Healthcare Taipei Taiwan Center for Artificial Intelligence and Advanced Robotics National Taiwan University Taipei Taiwan Department of Bio-Industry Communication and Development National Taiwan University Taipei Taiwan Graduate Institute of Brain and Mind Sciences National Taiwan University Taipei Taiwan

ISBN: (纸本)9783030786342

As children are at a critical stage in their lives in developing and practicing social skills, they tend to imagine objects as interactive agents. For example, even a toy dinosaur can be perceived as affable and more as a social entity, namely, with a strong social presence (SP). This study investigated whether perceived SP changes (measured using the SP questionnaire) as children interacted with a robot. Furthermore, we investigated how SP modulated children-robot relationships and children’s overall attitudes towards robots. Children aged 6–12 interacted with a companion robot, RoBoHoN, for short intervals. Attitude evaluations were completed at three-time points: prior-, mid-, and post-interaction. SP and rapport with RoBoHoN were measured and compared mid-and post-interaction, while attitudes towards the robot were tested prior- and post-interaction. The results showed a stronger intention to use robots before interaction correlated with higher SP scores with RoBoHoN. As SP level was stable across mid- and post-interaction, we analyzed SP as a between-groups factor to compare attitude evaluations among children who rated RoBoHoN with higher versus lower SP scores. The high SP group found RoBoHoN to be more likable and playing with it as more enjoyable, but the effect on rapport level was marginal. The Implicit Association Task revealed no bias towards robots among children in both groups. This study shows SP’s positive effect on children-robot interaction and highlights the importance of SP in designing social companion robots for children. © 2021, Springer Nature Switzerland AG.

关键词： Association reactions

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Enhancing Knee Contact Force Prediction Using Transformer Networks: A Comparative Study with Lstm and Mlp

SSRN

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SSRN 2025年

作者： Xu, Fashu Wang, Junqing Tong, Bingkui Fang, Xuyi Zhang, Hui Deng, Tao Wei, Qu Nie, Yong Li, Kang Department of Orthopedic Surgery West China Biomedical Big Data Center West China Hospital Sichuan University Sichuan Chengdu China Department of Orthopedic Surgery Orthopedic Research Institute West China Hospital Sichuan University Sichuan Chengdu China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Liaoning Shenyang China College of Computer Science Sichuan University Sichuan Chengdu China College of Electrical Engineering Sichuan University Sichuan Chengdu China School of Mechanical Engineering Sichuan University Sichuan Chengdu China

Background and objectiveKnee contact force (KCF) is pivotal in both the study and degenerative pathologies like Knee Osteoarthritis. Traditionally, they are primarily estimated using musculoskeletal modeling and machine learning predictive algorithms. However, musculoskeletal modeling is limited by intricate experimental protocols, prohibitive equipment cost, and scalability challenges. While machine learning methods, though computationally efficient, exhibit suboptimal predictive accuracy. This study innovatively developed a Transformer model for predicting KCF, benchmarked against long short-term memory (LSTM) and multilayer perceptron (MLP) *** comprehensive database was constructed with gait data from 513 participants, incorporating three degrees of freedom of hip, knee flexion/extension, and ankle dorsiflexion/plantarflexion, constituting four input combinations for the models. Contact forces derived from OpenSim served as the ground truth. Root mean square error (RMSE) and coefficient of determination (R2) were used to evaluate the performance of *** results indicated that the Transformer model demonstrated superior performance, achieving a significantly lower mean root mean square error of 0.02 body weight (BW) compared to MLP (0.54 BW) and LSTM (0.45 BW). Furthermore, the mean R2 of the Transformer network (0.99) was markedly superior to that of MLP (0.45) and LSTM (0.58).ConclusionsThe application of Transformer networks significantly improved the accuracy of KCF prediction, addressing the limitations of traditional musculoskeletal modeling and existing machine learning approaches, which was of paramount importance in both clinical practice and biomechanical research. © 2025, The Authors. All rights reserved.

关键词： Mean square error

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Gesture Control Method for Oral Blood Mixed Liquid Removal Robot*

Gesture Control Method for Oral Blood Mixed Liquid Removal R...

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WRC Symposium on advanced robotics and automation (WRC SARA)

作者： Xudong Ma Ziao Kuang Han Li Anqi Chen Changsheng Li Wenyong Liu Junchen Wang Yida David Hu Li Gao Bai-Quan Su Medical Robotics Laboratory School of Automation Beijing University of Posts and Tele-communications Beijing China School of Computer Beijing University of Posts and Tele-communications Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Key Laboratory for Biomechanics and Mechanobiology of Chinese Education Ministry Beijing Advanced Innovation Centre for Biomedical Engineering School of Biological Science and Medical Engineering Beihang University Beijing China School of Mechanical Engineering and Automation Beihang University Beijing China Brigham and Women’s Hospital Harvard Medical School Boston MA USA Department of Periodontology National Stomatological Center Peking University School and Hospital of Stomatology & National Clinical Research Center for Oral Diseases Beijing China

All of oral surgeries are accompanied by bleeding. Manual removal of blood is carried out by a nurse and dozens of repetitive blood suction operations are implemented by the nurse during a single oral surgery. In our previous work, a robot for removal of blood-water mixed liquid is designed. However, the robot requires an initial order to autonomous removal of blood mixed liquid. In this paper, a hand gesture control method for typical operations of the robot is developed. Gesture dataset are developed at first and a deep learning neural network is trained for detection of hand gesture. The gesture control procedures for four typical operations are provided in detail. In a group of experiments, it’s demonstrated that an oral surgeon controls the robot’s motion by presenting prescribed hand gesture. The proposed method could be an alternative manner for blood mixed liquid removal.

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Multimodal Information-Based Broad and Deep Learning Model for Emotion Understanding

Multimodal Information-Based Broad and Deep Learning Model f...

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第40届中国控制会议

作者： Min Li Luefeng Chen Min Wu Witold Pedrycz Kaoru Hirota School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Department of Electrical and Computer Engineering University of Alberta Tokyo Institute of Technology

Multimodal information-based broad and deep learning model（MIBDL） for emotion understanding is proposed, in which facial expression and body gesture are used to achieve emotional states recognition for emotion understanding. It aims to understand coexistence multimodal information in human-robot interaction by using different processing methods of deep network and broad network, which obtains the features of depth and width dimensions. Moreover, random mapping in the initial broad learning network could cause information loss and its shallow layer network is difficult to cope with complex tasks. To address this problem, we use principal component analysis to generate the nodes of the broad learning, and the stacked broad learning network is adapted to make it easier for the existing broad learning networks to cope with complex tasks by creating deep variations of the existing network. To verify the effectiveness of the proposal, experiments completed on benchmark database of spontaneous emotion expressions are developed, and experimental results show that the proposal outperforms the state-of-theart methods. According to the simulation experiments on the FABO database, by using the proposed method, the multimodal recognition rate is 17,54%, 1.24%, and 0.23% higher than those of the temporal normalized motion and appearance features（TN）,the multi-channel CNN（MCCNN）, and the hierarchical classification fusion strategy（HCFS）, respectively.

关键词： Convolution neural network broad learning emotion understanding facial expression body gesture

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Krasovskii and Shifted Passivity Based Output Consensus

arXiv

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arXiv 2022年

作者： Kawano, Yu Cucuzzella, Michele Feng, Shuai Scherpen, Jacquelien M.A. Graduate School of Advanced Science and Engineering Hiroshima University Higashi-Hiroshima739-8527 Japan Department of Electrical Computer and Biomedical Engineering University of Pavia PV Pavia27100 Italy School of Automation Nanjing University of Science and Technology Nanjing210094 China Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen9747 AG Netherlands

Motivated by current sharing in power networks, we consider a class of output consensus (also called agreement) problems for nonlinear systems, where the consensus value is determined by external disturbances, e.g., power demand. This output consensus problem is solved by a simple distributed output feedback controller if a system is either Krasovskii or shifted passive, which is the only essential requirement. The effectiveness of the proposed controller is shown in simulation on an islanded DC power network. Copyright © 2022, The Authors. All rights reserved.

关键词： Nonlinear systems

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Adaptive Artificial Potential Fields with Orientation Control Applied to Robotic Manipulators

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IFAC-PapersOnLine 2020年第2期53卷 9924-9929页

作者： Caio Cristiano Barros Viturino Ubiratan de Melo Pinto Junior André Gustavo Scolari Conceição Leizer Schnitman LaR - Robotics Laboratory Department of Electrical and Computer Engineering Federal University of Bahia Salvador Brazil CTAI - Training Center in Technology in Industrial Automation Department of Chemical Engineering Federal University of Bahia Salvador Brazil

This paper proposes the integration of an Adaptive Artificial Potential Fields algorithm with a new end effector orientation control technique for real-time robot path planning. The development of autonomous robotic systems has undergone several advances in path planning algorithms. These systems generate object collision-free paths in the robot’s workspace. In this context, the Artificial Potential Fields technique has been the focus of improvements in recent years due to its simplicity of application and efficiency in real-time systems, since it does not require a global mapping of the robot’s workspace. In spite of its efficiency, this technique is susceptible to local minimum problems of different natures, such as Goals Non-Reachable with Obstacles Nearby (GNRON). To solve this problem, we suggest the use of an improvement called Adaptive Artificial Potential Fields used in conjunction with the proposed end effector orientation control technique, which allows reaching a desired orientation of the end effector. The resulting force, generated from the Adaptive Artificial Potential Field, guides the robot end effector to the goal. The Robot Operating System (ROS) framework and a collaborative robot manipulator UR5 are used to validate the proposed method on an approaching task for an object on a 3D printer tray.

关键词： Artificial Potential Field Orientation Control Robotic manipulators Path planning

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Formation Control with Orientation Alignment and Constrained Input

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IFAC-PapersOnLine 2020年第2期53卷 3397-3402页

作者： Yu-Wen Chen Ming-Li Chiang Li-Chen Fu Department of Electrical Engineering National Taiwan University Taipei Taiwan Graduate Institute of Automation Technology National Taipei University of Technology Taipei Taiwan Department of Electrical Engineering and the Center for Artificial Intelligence and Advanced Robotics National Taiwan University Taipei Taiwan

We design a formation controller for Multi Agent Systems such that the agents can form into the desired shape and track a given reference trajectory. The main feature of the proposed design is that not only the orientation of individual agents, but also the orientation of the whole formation is considered and is designed to be aligned with the moving direction of the reference trajectory, which helps the tracking movement to be smoother compared with the common tracking results. Moreover, the control inputs are designed in predefined input ranges to reflect the practical system. System stability is proved based on nonlinear system theory and some simulations are given to validate the proposed results.

关键词： Multi-agent systems Nonlinear adaptive control Coordination of multiple vehicle systems

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Advances in artificial intelligence techniques drive the application of radiomics in the clinical research of hepatocellular carcinoma

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iLIVER 2022年第1期1卷 49-54页

作者： Jingwei Wei Meng Niu Ouyang Yabo Yu Zhou Xiaoke Ma Xue Yang Hanyu Jiang Hui Hui Hongyi Cao Binwei Duan Hongjun Li Dawei Ding Jie Tian Key Laboratory of Molecular Imaging Institute of AutomationChinese Academy of SciencesBeijing 100190China Beijing Key Laboratory of Molecular Imaging Beijing 100190China Department of Interventional Radiology The First Affiliated Hospital of China Medical UniversityShenyangLiaoning110000China Beijing YouAn Hospital Capital Medical UniversityBeijing Institute of HepatologyBeijing100069China School of Life Science and Technology Xidian UniversityXi'anChina School of Computer Science and Technology Xidian UniversityXi'anShaanxiChina Department of Radiology Beijing Youan HospitalCapital Medical UniverstiyBeijing100069China Department of Radiology West China HospitalSichuan UniversityChengduSichuan 610041China Department of Pathology College of Basic Medical ScienceChina Medical UniversityShenyangLiaoning110000China The Department of General Surgery Center Beijing YouAn HospitalCapital Medical UniversityChina School of Bioengineering Beihang UniversityBeijing100191China School of Automation and Electrical Engineering University of Science and Technology BeijingBeijing 100083China Beijing Advanced Innovation Center for Big Data-Based Precision Medicine School of Medicine Beihang UniversityBeijing100191China Engineering Research Center of Molecular and Neuro Imaging of Ministry of Education School of Life Science and TechnologyXidian UniversityXi'anShaanxi710126China

Hepatocellular carcinoma(HCC)remains the most common malignancy to threaten public health *** advances in artificial intelligence techniques,radiomics for HCC management provides a novel perspective to solve unmet needs in clinical settings,and reveals pixel-level radiological information for medical imaging big data,correlating the radiological phenotype with targeted clinical *** radiomics pipelines depend on handcrafted engineering features,and further deep learning-based radiomics pipelines are supplemented with deep features calculated via self-learning *** the past decade,radiomics has been widely applied in accurate diagnoses and pathological or biological behavior evaluation,as well as in prognosis *** this review,we systematically introduce the main pipelines of artificial intelligence-based radiomics and their efficacy in the clinical studies of HCC.

关键词： Artificial intelligence Diagnosis Hepatocellular carcinoma Prognosis Radiomics

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PI Controller Tuning via Data-Driven Algorithms for Shape Memory Alloy Systems

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IFAC-PapersOnLine 2022年第40期55卷 181-186页

作者： Raul-Cristian Roman Radu-Emil Precup Stefan Preitl Alexandra-Iulia Szedlak-Stinean Claudia-Adina Bojan-Dragos Elena-Lorena-Hedrea Emil M. Petriu Department of Automation and Applied Informatics Politehnica University of Timisoara Bd. V. Parvan 2 300223 Timisoara Romania Center for Fundamental and Advanced Technical Research Romanian Academy – Timisoara Branch Bd. Mihai Viteazu 24 300223 Timisoara Romania School of Electrical Engineering and Computer Science University of Ottawa 800 King Eduard Ottawa Ontario K1N 6N5 Canada

The current paper proposes to compare the performances of a proportional-integral (PI) controller whose parameters are determined in a model-based way using a metaheuristic search algorithm, with the performances of a PI determined in a model-free way by using virtual reference feedback tuning (VRFT) algorithm and using iterative feedback tuning (IFT) algorithm. The PI controller is included in a control system structure to control the position of a shape memory alloy (SMA) laboratory equipment.

关键词： data-driven iterative feedback tuning shape memory alloy virtual reference feedback tuning

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