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Wearable multichannel pulse condition monitoring system based on flexible pressure sensor arrays

Microsystems & Nanoengineering 2022年第1期8卷 249-258页

作者： Jie Wang Yirun Zhu Zhiyong Wu Yunlin Zhang Jian Lin Tao Chen Huicong Liu Fengxia Wang Lining Sun Jiangsu Provincial Key Laboratory of Advanced Robotics School of Mechanical and Electric EngineeringSoochow UniversitySuzhou 215123China Micro Nano System Research Center Key Laboratory of Advanced Transducers and Intelligent Control System of Ministry of Education and Shanxi Province&College of Information EngineeringTaiyuan University of TechnologyTaiyuan 030024China Suzhou Institute of Nano-tech and Nanobionics Chinese Academy of SciencesSuzhou 215123China

Pulse diagnosis is an irreplaceable part of traditional Chinese medical ***,application of the traditional pulse monitoring method was restricted in the modernization of Chinese medical science since it was difficult to capture real signals and integrate obscure feelings with a modern data ***,a novel multichannel pulse monitoring platform based on traditional Chinese medical science pulse theory and wearable electronics was *** pulse sensing platform simultaneously detected pulse conditions at three pulse positions(Chi,Cun,and Guan).These signals were fitted to smooth surfaces to enable 3-dimensional pulse mapping,which vividly revealed the shape of the pulse length and width and compensated for the shortcomings of traditional single-point pulse ***,the pulse sensing system could measure the pulse signals from different individuals with different conditions and distinguish the differences in pulse *** addition,this system could provide full information on the temporal and spatial dimensions of a person’s pulse waveform,which is similar to the true feelings of doctors’*** innovative,cost-effective,easily designed pulse monitoring platform based on flexible pressure sensor arrays may provide novel applications in modernization of Chinese medical science or intelligent health care.

关键词： multichannel system replace

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Visual Servoing of a 3 DOF Hover Quadcopter using 2D Markers

Visual Servoing of a 3 DOF Hover Quadcopter using 2D Markers

引用

IEEE International Symposium on Industrial Electronics (ISIE)

作者： Fethi Ouerdane Muhammad Faizan Mysorewala Department of Control and Instrumentation Engineering Interdisciplinary Research Center for Smart Mobility and Logistics King Fahd University of Petroleum and Minerals (KFUPM) Dhahran Saudi Arabia Department of Control and Instrumentation Engineering Interdisciplinary Research Center for Smart Mobility and Logistics Interdisciplinary Research Center for Intelligent Manufacturing and Robotics King Fahd University of Petroleum and Minerals (KFUPM) Dhahran Saudi Arabia

ISBN: (数字)9798350394085

ISBN: (纸本)9798350394092

This study presents a novel approach for testing visual servoing on 3 DOF UAVs (Unmanned aerial vehicles) in an indoor environment with no GPS by employing a combination of a physical 3 DOF and simulating the rest of degrees, 2 D markers are used to store instructions to previously known coordinates in the environment. Low-cost UAV hardware with an onboard camera can extract the task information from such markers without needing a ground station computer and continuous marker detection to follow a particular desired trajectory. Such a goal is achieved through the presence of markers, such as QR (Quick Response) codes, at selected locations, controlling the UAV motion to read and extract the stored information in the code, and controlling various states of UAV to fulfill the desired motion of moving through the site. This solution combines simulation and physical testing such that final algorithm can be applied on 6 DOF UAVs for asset monitoring and inspection in indoor environments, and non-experts can modify the vehicle’s path by providing the QR codes. Experimental results for the centering of UAV for accurate QR code reading using PID (Proportional-Integral-Derivative) controller and LQR (Linear Quadratic Regulator) algorithm for attitude control are tested on Quanser’s 3DOF hover quadcopter in LabVIEW environment. Furthermore, hardware-in-the-loop simulation tests are performed to simulate the control of the linear motion of the UAV. The results achieved so far are promising and give ample encouragement to test and evaluate the technique on a 6-DOF UAV.

关键词： Tracking 3-DOF QR codes Autonomous aerial vehicles Cameras Visual servoing 6-DOF

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Observer-based controller Design for Oscillation Damping of a Novel Suspended Underactuated Aerial Platform

Observer-based Controller Design for Oscillation Damping of ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Hemjyoti Das Minh Nhat Vu Tobias Egle Christian Ott Automation and Control Institute (ACIN) TU Wien Vienna Austria Austrian Institute of Technology (AIT) GmbH Vienna Austria Institute of Robotics and Mechatronics German Aerospace Center (DLR) Oberpfaffenhofen Wessling Germany

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In this work, we present a novel actuation strategy for a suspended aerial platform. By utilizing an underactuation approach, we demonstrate the successful oscillation damping of the proposed platform, modeled as a spherical double pendulum. A state estimator is designed in order to obtain the deflection angles of the platform, which uses only onboard IMU measurements. The state estimator is an extended Kalman filter (EKF) with intermittent measurements obtained at different frequencies. An optimal state feedback controller and a PD+ controller are designed in order to dampen the oscillations of the platform in the joint space and task space respectively. The proposed underactuated platform is found to be more energy-efficient than an omnidirectional platform and requires fewer actuators. The effectiveness of our proposed system is validated using both simulations and experimental studies.

关键词： Damping State feedback Aerospace electronics Frequency estimation Energy efficiency PD control Kalman filters

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A Variable Power Surface Error Function backstepping based Dynamic Surface control of Non-Lower Triangular Nonlinear Systems

arXiv

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arXiv 2024年

作者： Abubakar, Abdulrazaq Nafiu Nasir, Ali Quamar, Md Muzakkir Control and Instrumentation Engineering Department KFUPM Dhahran31261 Saudi Arabia Interdisciplinary Research Center for Intelligent Manufacturing and Robotics KFUPM Dhahran31261 Saudi Arabia KFUPM Dhahran31261 Saudi Arabia

A control design for error reduction in the tracking control for a class of nonlower triangular nonlinear systems is presented by combining techniques of Variable Power Surface Error Function (VPSEF), backstepping, and dynamic surface control. At each step of design, a surface error is obtained, and based on its magnitude, the VPSEF technique decides the surface error to be used. Thus, the backstepping-based virtual and actual control law is designed to stabilize the corresponding subsystem. To address the issue of circular structure, a first-order low-pass filter is used to handle the virtual control signal at each intermediate stage of the recursive design. The stability analysis of the closed-loop system demonstrates that all signals indicate semi-global uniform ultimate boundedness. Moreover, by using the switching strategy of the control input using the VPSEF technique suitably, it is possible to ensure that the steady-state tracking error converges to a neighborhood of zero with an arbitrarily very small size. The effectiveness of the proposed concept has been verified using two different simulated demonstrations. © 2024, CC BY.

关键词： Backstepping

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P2U-SLAM: A Monocular Wide-FoV SLAM System Based on Point Uncertainty and Pose Uncertainty

arXiv

引用

arXiv 2024年

作者： Zhang, Yufan Yang, Kailun Wang, Ze Wang, Kaiwei The State Key Laboratory of Extreme Photonics and Instrumentation Zhejiang University Hangzhou310027 China The School of Robotics The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410012 China The National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha410082 China

This paper presents P2U-SLAM, a visual Simultaneous Localization And Mapping (SLAM) system with a wide Field of View (FoV) camera, which utilizes pose uncertainty and point uncertainty. While the wide FoV enables considerable repetitive observations of historical map points for matching cross-view features, the data properties of the historical map points and the poses of historical keyframes have changed during the optimization process. The neglect of data property changes triggers the absence of a partial information matrix in optimization and leads to the risk of long-term positioning performance degradation. The purpose of our research is to reduce the risk of the wide field of view visual input to the SLAM system. Based on the conditional probability model, this work reveals the definite impact of the above data properties changes on the optimization process, concretizes it as point uncertainty and pose uncertainty, and gives a specific mathematical form. P2U-SLAM respectively embeds point uncertainty and pose uncertainty into the tracking module and local mapping, and updates these uncertainties after each optimization operation including local mapping, map merging, and loop closing. We present an exhaustive evaluation in 27 sequences from two popular public datasets with wide-FoV visual input. P2U-SLAM shows excellent performance compared with other state-of-the-art methods. The source code will be made publicly available at https://***/BambValley/P2U-SLAM. Copyright © 2024, The Authors. All rights reserved.

关键词： Mapping

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A Robust Hybrid Observer for Side-slip Angle Estimation

arXiv

引用

arXiv 2023年

作者： Ghosn, Agapius Bou Nolte, Marcus Polack, Philip de La Fortelle, Arnaud Center for Robotics Mines Paris PSL University Paris75006 France Institute for Control Engineering TU Braunschweig Braunschweig38106 Germany Heex Technologies Paris France

For autonomous driving or advanced driving assistance, it is key to monitor the vehicle dynamics behavior. Accurate models of this behavior include acceleration, but also the side-slip angle, that eventually results from the complex interaction between the tires and the road. Though it is an essential quantity (e.g. for stability assessment), as opposed to accelerations, it is not measurable through conventional off-the-shelf sensors. Therefore, accurate side-slip angle observers are necessary for the proper planning and control of vehicles. In this paper, we introduce a novel approach that combines model-based side-slip angle estimation with neural networks. We apply our approach to real vehicle data. We prove that the proposed method is able to outperform state-of-the-art methods for normal driving maneuvers, and for near-limits maneuvers where providing accurate estimations becomes challenging. Copyright © 2023, The Authors. All rights reserved.

关键词： System stability

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A New Agile Actuation System of a Cable-Driven Parallel Robot

A New Agile Actuation System of a Cable-Driven Parallel Robo...

引用

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

作者： S. Ali A. Moosavian MohammadJavad Shabani SeyedSina Seyedi HasanAbadi Mohammadreza Dahaaghin Department of Mechanical Engineering Center of Excellence in Robotics and Control Advanced Robotic and Automated Systems (ARAS) K. N. Toosi University of Technology Tehran Iran

Cable-driven Parallel Robots (CDPRs) offer a wider range of workspace compared to rigid-link parallel robots. These robots are equipped with an actuation system that satisfies some requirements, such as having low inertia and a negligible amount of friction. These two criteria lead to the agility definition of a system. On the other hand, winch-drum actuation systems should be able to wind the cable properly, in a way it does not be wound on itself. In this paper, an innovative winch-drum actuation system with a universal joint module is designed and fabricated for a CDPR. The winch-drum module is equipped with a power screw module which allows the cable to be wound properly around the drum and the universal joint module allows the cable to accordingly orient within the workspace. To validate the proposed designated system, it is experimentally evaluated in two control scenarios; i.e. reaching a set point and path tracking task The results show that the proposed actuation system fulfills the desired criteria and has the potential to be implemented in any other CDPR.

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Path Tracking for Wheeled Mobile Robot Using Non Linear Model Predictive control in Indoor Environment

Path Tracking for Wheeled Mobile Robot Using Non Linear Mode...

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Alessandro Bozzi Simone Graffione Michiel M.W. Kockelkoren Roberto Sacile Enrico Zero Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genoa Genoa Italy Delft Center for Systems and Control (DCSC) Delft University of Technology Delft Netherlands

Wheeled Mobile Robots (WMR) with the assistance of Information Communication Technology (ICT) can navigate and perform some tasks in an uncontrolled environment. They can experience some problems in task management if they can not localize themself in indoor/outdoor environments. Different algorithms can be exploited to evaluate the proper control law to track a default path. In this paper, a path-tracking algorithm for a WMR has been tested for an indoor environment, with a delimited area spanned by localization tags. The WMR must check some waypoints during its path until the last one, where the WMR re-start the simulation. In this work, the control law applied for the experiments is the Non-Linear Model Predictive controller (NMPC). The control algorithm is tested using two experiments, the first one is based on the robot movements in a simulation environment using the Gazebo tools, and the second one is related to a real context where the mobile robot moves in an indoor environment.

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Automated Ultrasonic Testing of Carbon-Carbon Composite Materials

Automated Ultrasonic Testing of Carbon-Carbon Composite Mate...

引用

Information, control, and Communication Technologies (ICCT), International Conference on

作者： Evgeniy A. Pavlukhin Igor Y. Kinzhagulov Alexey V. Fedorov Magomed A. Omarov Faculty of Control Systems and Robotics ITMO University ST Petersburg Russia Institution of Science “Engineering and design center for support of the operation of space technology ST Petersburg Russia

The quality of products made of carbon-carbon composite materials (CCCM) is influenced by many factors, including the parameters of the technological process and the technical level of equipment for the manufacture of materials and structures. One of the most important moments in the process of creating products from CCCM is the formation of reinforcing components, matrix and their structural bonds. The efficiency of the system of structural bonds depends on the homogeneity (heterogeneity) of the material structure. The required mechanical and thermal properties of CCCM are ensured by the uniformity (continuity) of the structure, the change of which affects the properties of the material as a whole. In the event of discontinuity, an uneven distribution of mechanical and thermal fields can occur, which will jeopardize the performance of the entire structure, so non-destructive testing (NDT) of CCCM is an important task. The ultrasonic shadow method of control was chosen as the NDT method. This method makes it possible to detect structural inhomogeneities in the material of the test object - accumulations of pores and microcracks (at the microlevel), cracks, zones of low density, local heterogeneity of the structure (at the macrolevel). This article discusses the automation and ultrasonic testing of products from CCCM.

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Simultaneous Synthesis and Verification of Neural control Barrier Functions through Branch-and-Bound Verification-in-the-loop Training

arXiv

引用

arXiv 2023年

作者： Wang, Xinyu Knoedler, Luzia Mathiesen, Frederik Baymler Alonso-Mora, Javier The Cognitive Robotics Department Delft University of Technology Delft2628 CD Netherlands The Delft Center for Systems and Control Delft University of Technology Delft2628 CD Netherlands

control Barrier Functions (CBFs) that provide formal safety guarantees have been widely used for safety-critical systems. However, it is non-trivial to design a CBF. Utilizing neural networks as CBFs has shown great success, but it necessitates their certification as CBFs. In this work, we leverage bound propagation techniques and the Branch- and-Bound scheme to efficiently verify that a neural network satisfies the conditions to be a CBF over the continuous state space. To accelerate training, we further present a framework that embeds the verification scheme into the training loop to synthesize and verify a neural CBF simultaneously. In particular, we employ the verification scheme to identify partitions of the state space that are not guaranteed to satisfy the CBF conditions and expand the training dataset by incorporating additional data from these partitions. The neural network is then optimized using the augmented dataset to meet the CBF conditions. We show that for a non-linear control-affine system, our framework can efficiently certify a neural network as a CBF and render a larger safe set than state-of-the-art neural CBF works. We further employ our learned neural CBF to derive a safe controller to illustrate the practical use of our framework. Copyright © 2023, The Authors. All rights reserved.

关键词： Backpropagation

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