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IEEE Annual Conference on Decision and control

作者： Eloy Garcia Panos J. Antsaklis Control Science Center of Excellence AFRL Wright-Patterson AFB OH 45433 USA Department of Electrical Engineering University of Notre Dame Notre Dame IN 46556 USA

ISBN: (纸本)9781467360890

This paper addresses the problem of output feedback stabilization of continuous-time networked systems that are also perturbed by persistent external disturbances. An augmented state observer is designed in order to estimate both the state of the system and the external disturbance. Conditions for observability of the augmented system are provided based on the given system parameters. Stabilization of the output feedback networked system is achieved by means of event-triggered control strategies which reduce the number of feedback updates. A strictly positive lower-bound on the inter-event times is also provided which avoids Zeno behavior. Finally, this framework is extended to consider the existence of network induced delays. Similarly, conditions for stability and bounds on the inter-event times are presented.

关键词： external disturbance Output feedback Event trigger Observability Observers

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A practical application of the Delphi method in maintenance-targeted resource allocation of distribution utilities

A practical application of the Delphi method in maintenance-...

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International Conference on Probabilistic Methods Applied to Power Systems (PMAPS)

作者： Payman Dehghanian Moein Moeini-Aghtaie Mahmud Fotuhi-Firuzabad Roy Billinton Sharif University of Technology Tehran Tehran IR Center of Excellence in Electrical Power System Management and Control Sharif University of Technology Tehran Iran Department of Electrical Engineering University of Saskatchewan Saskatoon Saskatchewan Canada

Trying to find the most efficient and cost-effective decisions on the maintenance of different component types in power distribution systems is an increasingly challenging concern largely driven by the current financial constraints in distribution utilities worldwide. In regard to deal with this challenge, the paper presents a practical application of the Delphi method and the Modified Analytical Hierarchical Process (MAHP) that can be used to find the most critical component types of the system in order to assist in accordingly allocating the available maintenance budget. The proposed approach involves the experience and knowledge held by experts and the historical empirical performance data in the utility data management systems to create the associated decisions. The approach has been applied in the Alborz Distribution System in Tehran, Iran. The results obtained and the lessons learned are reported in detail.

关键词： Maintenance engineering Decision making Resource management Power distribution Power cables Reliability Planning

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Sparse representation-based super-resolution for diffusion weighted images

Sparse representation-based super-resolution for diffusion w...

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Iranian Conference of Biomedical engineering (ICBME)

作者： Maryam Afzali Emad Fatemizadeh Hamid Soltanian-Zadeh Department of Electrical Engineering Sharif University of Technology Tehran Iran Radiology Department Henry Ford Health System Detroit Michigan USA Control and Intelligent Processing Center of Excellence (CIPCE) University of Tehran Tehran Iran

Diffusion weighted imaging (DWI) is a non-invasive method for investigating the brain white matter structure. It can be used to evaluate fiber bundles in the brain. However, clinical acquisitions are often low resolution. This paper proposes a method for improving the resolution using sparse representation. In this method a non-diffusion weighted image (bO) is utilized to learn the patches and then diffusion weighted images are reconstructed based on the trained dictionary. Our method is compared with bilinear, nearest neighbor and bicubic interpolation methods. The proposed method shows improvement in terms of Peak Signal-to-Noise Ratio (PSNR) and Structural SIMilarity (SSIM).

关键词： Image reconstruction Interpolation Diffusion tensor imaging Spatial resolution Biomedical engineering Dictionaries

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ESICM LIVES 2016: part one Milan, Italy. 1-5 October 2016 Abstracts

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INTENSIVE CARE MEDICINE EXPERIMENTAL 2016年第SUPPL 1期4卷 1-1页

作者： [Anonymous] Academic Medical Center University of Amsterdam Amsterdam Netherlands UMCU Utrecht Netherlands Autonomous University of Barcelona Barcelona Spain Hospital São Francisco Xavier Lisbon Portugal CHU Henri Mondor Medical ICU Créteil France Université de Paris Est-Créteil Groupe de Recherche Clinique CARMAS Créteil France Hôpital Tenon APHP Medical and Surgical ICU Paris France Université Paris Diderot Sorbonne Paris Cité UMR 1153 Paris France Interdepartmental Division of Critical Care University of Toronto Toronto Canada University Health Network University of Toronto Critical Care Medicine Toronto Canada University of Milan - Bicocca Health Sciences School of Medicine and Surgery Monza Italy St Michael’s Hospital University of Toronto Anesthesia Toronto Canada CHU d’Angers Medical ICU Angers France Interdepartmental Division of Critical Care University of Toronto Saint Michael’s Hospital and Keenan Research Centre Toronto Canada University of Birmingham Institute for Inflammation and Ageing Birmingham UK University of Sheffield Mathematics and Statistics Help Centre Sheffield UK Heart of England NHS Foundation Trust Intensive Care Medicine Birmingham UK Department of Surgery University Hospitals Birmingham NHS Trust Birmingham UK University Hospitals Birmingham NHS Trust Anaesthesia and Critical Care Medicine Birmingham UK Queen’s University of Belfast Wellcome-Wolfson Institute for Experimental Medicine Belfast UK Royal Victoria Hospital Intensive Care Medicine Belfast UK University of Warwick Warwick Clinical Trials Unit Coventry UK University of Bari ‘Aldo Moro’ Bari Italy Hospital Israelita Albert Einstein São Paulo Brazil Mayo Clinic Jacksonville USA Mahidol University Faculty of Tropical Medicine Bangkok Thailand University Medical Center Utrecht Intensive Care Utrecht Netherlands University Medical Center Utrecht Julius Center for Health Sciences and Primary Care Utrecht Netherlands Academic Medical Center University of Amste

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Asymptotic optimality for consensus-type stochastic approximation algorithms using iterate averaging

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控制理论与应用（英文版） 2013年第1期11卷 1-9页

作者： Gang YIN Le Yi WANG Yu SUN David CASBEER Raymond HOLSAPPLE Derek KINGSTON Department of Mathematics Wayne State University Department of Electrical and Computer Engineering Wayne State University Quantitative Business Analysis Department Siena College Control Science Center of Excellence Air Force Research Laboratory

This paper introduces a post-iteration averaging algorithm to achieve asymptotic optimality in convergence rates of stochastic approximation algorithms for consensus control with structural constraints. The algorithm involves two stages. The first stage is a coarse approximation obtained using a sequence of large stepsizes. Then, the second stage provides a refinement by averaging the iterates from the first stage. We show that the new algorithm is asymptotically efficient and gives the optimal convergence rates in the sense of the best scaling factor and ＇smallest＇ possible asymptotic variance.

关键词： Stochastic approximation algorithm Consensus Iterate averaging Asymptotic optimality

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Development of CR2-Haptic: A compact and portable rehabilitation robot for wrist and forearm training

Development of CR2-Haptic: A compact and portable rehabilita...

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IEEE EMBS Conference on Biomedical engineering and Sciences (IECBES)

作者： K. X. Khor P. J. H. Chin A. R. Hisyam C.F. Yeong A. L. T. Narayanan E. L. M. Su Universiti Teknologi Malaysia from Malaysia Japan International Institute of Technology Universiti Teknologi Malaysia Skudai Johor MY Department of Control Mechatronics of Faculty of Electrical Engineering Unwersiti Teknologi Malaysia Universiti Teknologi Malaysia Center of Artificial Intelligence and Robotics (CAIRO)

Stroke has now become the leading cause of severe disability. Rehabilitation robots are gradually becoming popular for stroke rehabilitation to improve motor recovery, as robotic technology can assist, enhance, and further quantify rehabilitation training for stroke patients. However, most of the available rehabilitation robots are complex and involve multiple degrees-of-freedom (DOFs) causing it to be very expensive and huge in size. Rehabilitation robots should be useful but also need to be affordable and portable enabling more patients to afford and train independently at home. This paper presents a development of an affordable, portable and compact rehabilitation robot that implements different rehabilitation strategies for stroke patient to train forearm and wrist movement in an enhanced virtual reality environment with haptic feedback.

关键词： Robots Training Torque Wrist Haptic interfaces Games Joints

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A centralized potential field method for stable operation of a multi-robot dome inspection, repair, and maintenance system

A centralized potential field method for stable operation of...

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2013 1st RSI/ISM International Conference on robotics and Mechatronics, ICRoM 2013

作者： Naderi, K. Nejadfard, A. Moradi, H. Nili Ahmadabadi, M. School of Electrical and Computer Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Iran

ISBN: (纸本)9781467358118

In this paper we propose a centralized algorithm for stable operation of a multi-robot dome inspection, repair, and maintenance based on potential field method. The multi-robot system consists of two robots, a leader robot and a supporter robot, connected to each other by two strings. The follower robot sends its information to the leader robot for processing and receiving commands. The leader robot uses the friction model, the slope of the dome detected by the two robots' tilt sensors and the mass of the robots to calculate the stability ranges and determines the proper action to make the whole system stable. The leader robot moves toward its target pose while adjusting the tension of its string using potential field method to combine the attractive and repulsive potentials. The follower robot executes the commands sent by the leader robot to create the most stable configuration for the whole system. It is shown that the algorithm can guarantee stable operation all over a typical dome. The algorithm has been implemented and shown its effectiveness in simulation. Furthermore, the effect of each parameter has been discussed and it is shown that the multi-robot system is capable of completely covering a typical dome using the proposed potential field algorithm. © 2013 IEEE.

关键词： Multipurpose robots

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Cooperative Aircraft Defense from an Attacking Missile

Cooperative Aircraft Defense from an Attacking Missile

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IEEE Annual Conference on Decision and control

作者： Eloy Garcia David W. Casbeer Khanh Pham Meir Pachter Control Science Center of Excellence Air Force Research Laboratory Wright-Patterson AFB OH 45433 Space Vehicles Directorate Air Force Research Laboratory Kirtland AFB NM 87117 Department of Electrical Engineering Air Force Institute of Technology Wright-Patterson AFB OH 45433

ISBN: (纸本)9781467360890

This paper addresses a three-body pursuit-evasion scenario where an Attacker missile using Pure Pursuit guidance pursues a Target aircraft and a Defender missile launched by a wingman aims at intercepting the Attacker before it reaches the aircraft. An optimal control problem is posed which captures the goal of the Target-Defender team, namely, to maximize the separation between Target and Attacker at the instant of capture of the Attacker by the Defender. The optimal control law provides the heading angles for the Target and the Defender team.

关键词： Missiles Aircraft Optimal control Equations Vehicle dynamics Trajectory Radio frequency

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Social Adaptation of Robots for Modulating Self-Organization in Animal Societies

Social Adaptation of Robots for Modulating Self-Organization...

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IEEE International Conference on Self-Adaptive and Self-Organizing Systems Workshops, SASOW

作者： Payam Zahadat Michael Bodi Ziad Salem Frank Bonnet Marcelo Elias De Oliveira Francesco Mondada Karlo Griparic Tomislav Haus Stjepan Bogdan Rob Mills Pedro Mariano Luis Correia Olga Kernbach Serge Kernbach Thomas Schmickl Artificial Life Laboratory of the Department of Zoology Karl-Franzens University Graz Austria Computer Engineering Department Aleppo University Syrian Arab Republic Rbotic Systems Laboratory Swiss Federal Institute of Technology (EPFL) Lausanne Switzerland Ecole Polytechnique Federale de Lausanne Lausanne VD CH Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb Croatia Universidade de Lisboa Lisboa Lisboa PT Cybertronica Research Research Center of Advanced Robotics and Environmental Science Stuttgart Germany

The goal of the work presented here is to influence the overall behaviour of specific animal societies by integrating computational mechatronic devices (robots) into those societies. To do so, these devices should be accepted by the animals aspart of the society and/or as part of the collectively formed environment. For that, we have developed two sets of robotic hardware for integrating into societies of two different animals: zebra fish and young honeybees. We also developed mechanisms to provide feedback from the behaviours of societies for the controllers of the robotic system. Two different computational methods are then used as the controllers of the robots in simulation and successfully adapted by evolutionary algorithms to influence the simulated animals for desired behaviours. Together, these advances in mechatronic hardware, feedback mechanisms, and controller methodology are laying essential foundations to facilitate experiments on modulating self-organised behaviour in mixed animal -- robot societies.

关键词： Animals Heating Vibrations Robot sensing systems Hardware Biochemistry

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Dynamics modelling and stable motion control of a Ballbot equipped with a manipulator

Dynamics modelling and stable motion control of a Ballbot eq...

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2013 1st RSI/ISM International Conference on robotics and Mechatronics, ICRoM 2013

作者： Asgari, Pouya Zarafshan, Payam Moosavian, S. Ali A. Center of Excellence in Robotics and Control Department of Mechanical Engineering K. N. Toosi Univ. of Technology PO Box 19395-1999 Tehran Iran

ISBN: (纸本)9781467358118

Human-Robot physical interaction is an important attribute for robots operating in human environments. A Ballbot is an under-actuated system with nonholonomic dynamic constraints. It is a skinny robot with a small base that helps the robot to move in limited space. It is as tall as human height until could interact by people whereas a Ballbot has not been equipped with a manipulator. This manipulator adds new advantages to the Ballbot such as object manipulation and grasping. In this paper and to achieve more performance of a Ballbot, it is equipped with a PUMA type manipulator which gives to the proposed robot the capability of better stabilization. To this end, dynamics equations of the assumed mobile robot is presented and verified. Then, by respecting to this fact that a Ballbot is in the class of under-actuated systems, a control algorithm is proposed to attain the stable motion control of the system. Finally, a simulation routine is performed to move along the desired path/trajectory. Obtained results reveal the merits of the verified model of the new Ballbot and the considered control algorithm which will be discussed. © 2013 IEEE.

关键词： Manipulators

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