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2014 Joint Conference on 2nd SBR Brazilian Robotics Symposium, 11th LARS Latin American Robotics Symposium and 6th Robocontrol Workshop on Applied Robotics and automation, SBR LARS Robocontrol 2014

作者： Roza, Valber Cesar Cavalcanti Araujo, Marcio Valerio De Alsina, Pablo Javier Matamoros, Efrain Pantaleon Department of Computer Engeneering and Automation Federal University of Rio Grande Do Norte UFRN Natal Brazil Department of Mechanical Engineering Federal University of Rio Grande Do Norte UFRN Natal Brazil School of Science and Technology Federal University of Rio Grande Do Norte UFRN Natal Brazil

ISBN: (纸本)9781479967117

Users of powered or thoses for lower limbs, use Human Machine Interface (HMI) to trigger these devices. This work, presents a HMI based on Electrooculography (EOG) to command a powered orthosis for lower limbs, through the eye movements. This interface, is responsible by generation of high-level commands like: walking, stop, sit down, stand up, up and down stairs. By using this HMI, the user's hand will always be free to perform other tasks. Preliminary results, showed that, it was possible to command a powered hip-knee-ankle-foot orthosis through eyes movements. © 2014 IEEE.

关键词： Eye movements

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High-order extraction method of iso-curvature lines on B-spline surfaces

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Journal of Information and Computational Science 2015年第10期12卷 3945-3952页

作者： Xu, Gang Deng, Lishan Wang, Shiliang Zhao, Weihua Hui, Kin-Chuen College of Computer Science and Technology Hangzhou Dianzi University Hangzhou China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong

Curvature information is one of the important geometric intrinsic properties of B-spline surfaces. In order to achieve the high-accuracy extraction and rendering of iso-curvature lines on surfaces, we propose a high-order extraction method of iso-curvature lines on B-spline surface by functional composition theory. Firstly, the B-spline surface and its parametric domain are subdivided by knot insertion, then the corresponding part of iso-curvature lines in the parametric domain is obtained according to curvature value at the sampling points by Marching Square method. After converting each sub-patch on each knot interval into Bézier surface, the high-order representation of the iso-curvature lines on B-spline surface can be obtained by functional composition method. The proposed method can be used for the extraction of iso-curvature lines of mean curvature, Gaussian curvature, maximum and minimum principal curvature on B-spline surfaces. Several examples are shown to illustrate the efficiency of the proposed method. 1548-7741/Copyright © 2015 Binary Information Press

关键词： Extraction

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Handling of the demilitarized zone using service providers in SAP

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IOP Conference Series: Materials Science and engineering 2016年第1期106卷

作者： A Iovan R Robu Politehnica University of Timişoara. Computer and Software Engineering Department Timişoara Romania Politehnica University of Timişoara Automation and Applied Informatics Department Timişoara Romania

External collaboration needs to allow data access from the Internet. In a trusted Internet collaboration scenario where the external user works on the same data like the internal user direct access to the data in the Intranet is required. The paper presents a solution to get access to certain data in the Enterprise Resource Planning system, having the User Interface on a system in the Demilitarized Zone and the database on a system which is located in the trusted area. Using the Service Provider Interface framework, connections between separate systems can be created in different areas of the network. The paper demonstrates how to connect the two systems, one in the Demilitarized Zone and one in the trusted area, using SAP ERP 6.0 with Enhancement Package 7. In order to use the Service Provider Interface SAP Business Suite Foundation component must be installed in both systems. The advantage of using the Service Provider Interface framework is that the external user works on the same data like the internal user (and not on copies). This assures data consistency and less overhead for backup and security systems.

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Symbolic time series analysis of the soft starting transient in induction machines

Symbolic time series analysis of the soft starting transient...

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2015 IEEE International Conference on Industrial Technology, ICIT 2015

作者： Karvelis, Petros Georgoulas, George Stylios, Chrysostomos D Tsoumas, Ioannis P. Antonino-Daviu, Jose Alfonso Corral-Hernández, Jesús Climente-Alarcón, Vicente Nikolakopoulos, George Dept. of Computer Engineering TEI of Epirus Arta Greece Larges Drives Products RandD Department Siemens Industry Sector - Drive Technologies Nuremberg Germany Instituto de Ingeniería Energética Universitat Politècnica de València Valencia Spain Department of Electrical Engineering and Automation Aalto University P. O. Box 13000 AaltoFI-00076 Finland Computer Science Electrical and Space Engineering Dept. Luleå University of Technology Luleå Sweden

ISBN: (纸本)9781479978007

Induction motors are in the heart of almost every production line especially due to their robustness under harsh environments. Nevertheless, even induction machines are prone to faults. Among them, the faults related to the breakage of rotor bars have received special attention by the research community with a number of methods proposed both for the case of steady state as well as for transient operation. For the latter, methods relying on the analysis of the start-up transient have proven to be able to effectively isolate the faulty component that is created by the asymmetry caused by the bar breakage. However, very little work has been done concerning the soft starting of induction machines. In this work, preliminary results of the application of a symbolic time series technique for the analysis of the transient, when the motor is controlled by a soft starter, will be presented and experimentally evaluated. © 2015 IEEE.

关键词： Empirical mode decomposition

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Nanoscale monitoring of drug actions on cell membrane using atomic force microscopy

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中国药理学报（英文版） 2015年第7期36卷 769-782页

作者： Mi LI Lian-qing LIU Ning XI Yue-chao WANG State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang 110016 China Department of Electrical and Computer Engineering Michigan State University East Lansing MI 48824 USA

Knowledge of the nanoscale changes that take place in individual cells in response to a drug is useful for understanding the drug action. However, due to the lack of adequate techniques, such knowledge was scarce until the advent of atomic force microscopy (AFM), which is a multifunctional tool for investigating cellular behavior with nanometer resolution under near-physiological conditions. In the past decade, researchers have applied AFM to monitor the morphological and mechanical dynamics of individual cells following drug stimulation, yielding considerable novel insight into how the drug molecules affect an individual cell at the nanoscale. In this article we summarize the representative applications of AFM in characterization of drug actions on cell membrane, including topographic imaging, elasticity measurements, molecular interaction quantification, native membrane protein imaging and manipulation, etc. The challenges that are hampering the further development of AFM for studies of cellular activities are aslo discussed.

关键词： atomic force microscopy single-cell technique nanometer scale drug-target interaction cell mechanics cell elasticity

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A secure and easy-to-implement web-based communication framework for caregiving robot teams

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IOP Conference Series: Materials Science and engineering 2016年第1期108卷

作者： G Tuna R Daş A Tuna H Örenbaş M Baykara K Gülez Department of Computer Programming Trakya University Edime Turkey School of Foreign Languages Trakya University Edime Turkey Department of Control and Automation Engineering Yildiz Technical University Istanbul Turkey Department of Software Engineering Firat University Elazig Turkey

In recent years, robots have started to become more commonplace in our lives, from factory floors to museums, festivals and shows. They have started to change how we work and play. With an increase in the population of the elderly, they have also been started to be used for caregiving services, and hence many countries have been investing in the robot development. The advancements in robotics and wireless communications has led to the emergence of autonomous caregiving robot teams which cooperate to accomplish a set of tasks assigned by human operators. Although wireless communications and devices are flexible and convenient, they are vulnerable to many risks compared to traditional wired networks. Since robots with wireless communication capability transmit all data types, including sensory, coordination, and control, through radio frequencies, they are open to intruders and attackers unless protected and their openness may lead to many security issues such as data theft, passive listening, and service interruption. In this paper, a secure web-based communication framework is proposed to address potential security threats due to wireless communication in robot-robot and human-robot interaction. The proposed framework is simple and practical, and can be used by caregiving robot teams in the exchange of sensory data as well as coordination and control data.

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Efficient Coordination of Electric Vehicle Charging using a Progressive Second Price Auction

Efficient Coordination of Electric Vehicle Charging using a ...

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American Control Conference

作者： Zhongjing Ma Suli Zou Xiangdong Liu Ian Hiskens School of Automation Beijing Institute of Technology (BIT) China School of Automation BIT Beijing China Department of Electrical Engineering and Computer Science University of Michigan Ann Arbor USA

ISBN: (纸本)9781479917730

An auction-based game is formulated for coordinating the charging of a population of electric vehicles (EVs) over a finite horizon. The proposed auction requires individual EVs to submit bid profiles that have dimension equal to two times the number of time-steps in the horizon. They compete for energy allocation at each time-step. Use of the progressive second price (PSP) auction mechanism ensures that incentive compatibility holds for the auction game. However, due to cross-elasticity between the charging time-steps, the marginal valuation of an individual EV at a particular time is determined by both the demand at that time and the total demand over the entire horizon. This difficulty is addressed by partitioning the allowable set of bid profiles according to the total desired energy over the entire horizon. It is shown that the efficient bid profile over the charging horizon is a Nash equilibrium of the underlying auction game. A dynamic update mechanism for the auction game is designed. A numerical example demonstrates that the auction system converges to the efficient Nash equilibrium.

关键词： Resource management Optimization Batteries Games Nash equilibrium Electric vehicles Electronic mail

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HiHeading: Smartphone-Based Indoor Map Construction System with High Accuracy Heading Inference

HiHeading: Smartphone-Based Indoor Map Construction System w...

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International Conference on Mobile Ad-hoc and Sensor Networks, MSN

作者： Wenneng Ma Jing Wu Chengnian Long Yanmin Zhu Department of Automation Shanghai Jiao Tong University Shanghai China Department of Computer Science and Engineering Shanghai Jiao Tong University Shanghai China

Smartphone is widely used in indoor map construction with its build-in sensors. However, the low accuracy problem of build-in sensors always causes the collected user trajectories noisy. The significant problem we face is the low accuracy of walk heading estimated by build-in sensors because of phone heading fluctuation and magnetic field anomaly. This paper presents HiHeading - a high reliable crowdsourcing-based indoor map construction system. HiHeading leverages build-in inertial sensors to construct accurate motion traces. These traces are generated by HiHeading with high accuracy based on the novel ideal of fusing gyroscope and orientation sensor to get reliable walk heading estimation in indoor dead reckoning (DR). To evaluate our system, we have tested it in a middle size indoor office by recording 3 people's walk trajectories during 5 days. We present an evaluation of our system and the experiment result shows 70% of the heading estimation error is lower than 10 degrees.

关键词： Gyroscopes Trajectory IEEE 802.11 Standard Estimation Legged locomotion Dead reckoning Accelerometers

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Optimization of a power system with distributed generation sources

Optimization of a power system with distributed generation s...

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International Conference on engineering of Modern Electric Systems (EMES)

作者： Lucian Ioan Dulău Dorin Bică Department of Automation Technical University of Cluj-Napoca Romania Department of Electrical and Computer Engineering “Petru Maior” University of Tîrgu-Mureş Romania

This paper describes the optimization of a power system with distributed generation (DG) sources. The optimization aims to minimize the electricity production costs ensuring that the load is served reliably and is conducted using the fmincon function in Matlab. The optimization is performed considering the power demand and the availability of the system's generating units, and equality restrictions. The optimization is performed first for steady-state condition, and second for the entire day. The optimization for the entire day is performed for two cases: when the DG sources are connected to the system and when the DG sources are not connected to the system. The test system comprises four generators and one load.

关键词： Optimization Distributed power generation Production Power demand Steady-state

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Advanced current control based on linear quadratic regulators for 3-phase grid-connected inverters

Advanced current control based on linear quadratic regulator...

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IEEE International Symposium on Power Electronics for Distributed Generation Systems (PEDG)

作者： Riming Shao Shuying Yang Rong Wei Liuchen Chang Department of Electrical and Computer Engineering University of New Brunswick Fredericton NB Canada School of Electrical Engineering and Automation Hefei University of Technology Hefei China

ISBN: (纸本)9781479985876

This paper proposes an optimal current control with linear quadratic regulators for 3-phase grid-connected inverters. Because the 3-phase current control is a multivariable control problem with multiple interconnected loops, the traditional control methods, like proportional-integral-derivative control and predictive control, have the difficulty in optimizing their parameters. The proposed control algorithm, however, uses the linear quadratic regulator technique to synthesize the state feedback gains and achieve optimal performance. This paper also introduces the disturbance decoupling strategy to eliminate the impact of the disturbance of grid voltage variation. The system modeling and control design procedure are discussed in the paper. And simulation and experimental results are presented in the paper to verify the effectiveness of the proposed current control algorithm.

关键词： Inverters Current control Voltage control State feedback Pulse width modulation Steady-state Industrial electronics

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