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Implementation and test of human-operated and human-like adaptive impedance controls on Baxter robot

Implementation and test of human-operated and human-like ada...

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15th Annual Conference on Advances in Autonomous Robotics Systems, TAROS 2014

作者： Liang, Peidong Yang, Chenguang Wang, Ning Li, Zhijun Li, Ruifeng Burdet, Etienne Centre for Robotics and Neural Systems School of Computing and Mathematics Plymouth University United Kingdom MOE Key Lab. of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology China State Key Laboratory of Robotics and System Harbin Institute of Technology China Department of Computer Science and Engineering Chinese University of Hong Kong Hong Kong Department of Bioengineering Imperial College of Science Technology and Medicine London United Kingdom

ISBN: (纸本)9783319104003

This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremental stiffness extraction method is developed, which uses instantaneous amplitude identified from EMG in a high frequency band, compensating for non-linear residual error in the linear mapping and preventing muscle fatigue from affecting the control. Experiments on one joint of the Baxter robot are carried out to test the approach in a disturbance attenuation task, and to compare it with automatic human-like impedance adaptation. The experimental results demonstrate that the new human operated impedance method is successful at attenuating disturbance, and results similarly to as automatic disturbance attenuation, thus demonstrating its efficiency. © 2014 Springer International Publishing.

关键词： Stiffness

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An EMG Enhanced Impedance and Force Control Framework for Telerobot Operation in Space

An EMG Enhanced Impedance and Force Control Framework for Te...

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IEEE Aerospace Conference

作者： Ning Wang Chenguang Yang Michael R. Lyu Zhijun Li Department of Computer Science and Engineering The Chinese University of Hong Kong School of Computing and Mathematics Plymouth University Key Lab of Autonomous System and Network Control College of Automation Science and Engineering South China University of Technology

ISBN: (纸本)9781479916191

Tele-operation is a merging point of modern developments in robotics and communications technologies. Both traditional applications (e.g., mining) and emerging domains (e.g., microsurgery) benefit from the advancement of tele-robotic systems. Combining a local human operator and a remote autonomous robot, the tele-robotics systems could optimally exploit both the intelligence of human operator and the automation of robot. In a tele-operation scenario, the exchange of force and position signals, i.e., haptic feedback, can greatly extend human operator's capability of conducting complicated work through the robot in a remote environment. However, long-range communications usually suffer from the time delay problem caused by the inherent characteristics of communication channels. Delayed transmission of haptic signals may lead to instability in the closed-loop telerobot control system. Although much effort has been made in the control community to overcome this difficulty, and many approaches such as wave scattering, passivity, and small gain theorem have been employed as possible solutions, stability in haptic telerobot control remains a challenge. It has been noted that the neural path of human being is also subject to transmission delay as well. We know that in the presence of time delay in sensory feedback pathways, human neural control can easily maintain stability and even to show superior manipulation skills in unstable interaction scenarios. It has been discovered and reported that the operation stability of human beings could be achieved by well adjusting the mechanical impedance, i.e., the resistance to imposed motion, which is largely contributed by the spring-like property of muscles. Being investigated in robotics community for decades, impedance control has shown great advantage in terms of safety and flexibility over conventional position or force control. However, only until very recently our attention has been attracted to transferring a human operator

关键词： impedance Electromyogram Human Robot Force Astronauts Force control muscles robotics

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New multi-axis control algorithm to generate human handwriting traces

New multi-axis control algorithm to generate human handwriti...

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International Conference on Sciences and Techniques of Automatic Control and Computer engineering (STA)

作者： I. Mahmoud I. Chihi A. Abdelkrim M. Benrejeb Laboratory for Automation Research (LA.RA) National Engineering School of Tunis (ENIT) Tunis Belvedere TUNISIA Electrical Engineering Department School of Technology and Computing (ESTI) Tunis TUNISIA National Engineering School of Tunis LARA (ENIT) Tunisia

Using the database of a pen-tip moving on (x, y) plane during the human handwriting motion, this paper presents a novel algorithm to generate handwritten graphic traces, which is inspired from the idea of tracing circles by Bresenham multi-axis control algorithm. The effectiveness of this approach should be observed on predicting different cursive Arabic letters and geometric shapes constituting the recorded experimental basis.

关键词： Prediction algorithms Shape Pattern recognition Chemicals Robots Plastics Magnetic anisotropy

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A novel approach for localization of an indoor autonomous mobile surveillance robot 11

A novel approach for localization of an indoor autonomous mo...

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2014 11th World Congress on Intelligent Control and automation, WCICA 2014

作者： Jiang, Guolai Syed, Muhammad Umer Liu, Letian Ou, Yongsheng Xu, Yangsheng Malik, Muhammad Sarfaraz Chandio, Aftab Ahmed Center for Intelligent and Biomimetic Systems Institute of Advanced Integration Technology Chinese Academy of Sciences Guangdong China Department of Mechanical and Automation Engineering Chinese University of Hong Kong Hong Kong Lab of Simulation and Intelligent Control University of Science and Technology of China Heife China Center for Cloud Computing Shenzhen Institutes of Advanced Technology Chinese Academy of Sciences China

ISBN: (纸本)9781479958252

Localization of an autonomous mobile robot has always been a topic of interest in Robotics community. The constraints of working under different environments are constantly a challenge in designing an efficient localization system. We propose a localization algorithm for a mobile robot, which will be used for home security. The objective is to perform indoor localization efficiently and keeping the cost as low as possible so as to make it commercializable. Here, we introduce an approach based on recognizing a pattern generated by laser pointers on the wall, which is captured by an infrared camera. The image of this pattern is used to locate the position of a robot in the room. The problem of working under black ceiling has been overcomed because the projection is on the wall and is moving which also increases the range of operation. As the pattern is unique, the interference of strong sunlight has also been fixed to some extent. Experimental results show that the proposed approach is effective in real environment and opens new doors for future research. © 2014 IEEE.

关键词： Indoor positioning systems

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Security risk analysis for smart grid automation

Security risk analysis for smart grid automation

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： Seppo Sierla Marcin Hurkala Konstantinia Charitoudi Chen-Wei Yang Valeriy Vyatkin Dept. of Electrical Engineering and Automation School of Electrical Engineering Aalto University Espoo Finland Faculty of Computing Engineering and Science (FCES) University of South Wales Pontypridd RCT UK Department of Computer Science Electrical and Space Engineering Lulea University of Technology Lulea Sweden

ISBN: (纸本)9781479924004

The reliability theory used in the design of complex systems including electric grids assumes random component failures and is thus unsuited to analyzing security risks due to attackers that intentionally damage several components of the system. In this paper, a security risk analysis methodology is proposed consisting of vulnerability analysis and impact analysis. Vulnerability analysis is a method developed by security engineers to identify the attacks that are relevant for the system under study, and in this paper, the analysis is applied on the communications network topology of the electric grid automation system. Impact analysis is then performed through co-simulation of automation and the electric grid to assess the potential damage from the attacks. This paper makes an extensive review of vulnerability and impact analysis methods and relevant system modeling techniques from the fields of security and industrial automation engineering, with a focus on smart grid automation, and then applies and combines approaches to obtain a security risk analysis methodology. The methodology is demonstrated with a case study of fault location, isolation and supply restoration smart grid automation.

关键词： IEC standards Security Smart grids automation Substations Software Fault location

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An Automated Thermographic Image Segmentation Method for Induction Motor Fault Diagnosis

An Automated Thermographic Image Segmentation Method for Ind...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Petros Karvelis George Georgoulas Chsysostomos D. Stylios Ioannis P. Tsoumas Jose Alfonso Antonino-Daviu Maria Jose Picazo Rodenas Vicente Climente-Alarcon Laboratory of Knowledge and Intelligent Computing Technological Educational Institute of Epirus Department of Computer Engineering Larges Drives Products R&D Department Siemens Industry Sector - Drive Technologies Instituto de Ingenieria Energetica Universitat Politecnica de Valencia Department of Electrical Engineering and Automation Aalto University

ISBN: (纸本)9781479940318

Eventual failures in induction machines may lead to catastrophic consequences in terms of economic costs for the companies. The development of reliable systems for fault detection that enable to diagnose a wide range of faults is a motivation of many researchers worldwide. In this context, non-invasive condition monitoring strategies have drawn special attention since they do not require interfering with the operation process of the machine. Though the analysis of the motor currents has proven to be a reliable, non-invasive methodology to detect some of the faults (especially when assessing the rotor condition), it lacks reliability for the diagnosis of other faults (e.g. bearing faults). The infrared thermography has proven to be an excellent, non-invasive tool that can complement the diagnosis reached with the motor current analysis, especially for some specific faults. However, there are still some pending issues regarding its application to induction motor faults diagnosis, such as the lack of automation or the extraction of reliable fault indicators based on the infrared data. This paper proposes a methodology that intends to provide a solution to the first issue: a method based on image segmentation is employed to detect several failures in an automated way. Four specific faults are analyzed: bearing faults, fan failures, rotor bar breakages and stator unbalance. The results show the potential of the technique to automatically identify the fault present in the machine.

关键词： Induction motor Fault diagnosis SIFT Image segmentation Object matching

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A General Variable Neighborhood Search heuristic for short term load forecasting in Smart Grids environment

A General Variable Neighborhood Search heuristic for short t...

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Clemson University Power Systems Conference (PSC)

作者： Vitor N. Coelho Frederico G. Guimarães Agnaldo J. R. Reis Bruno N. Coelho Igor M. Coelho Marcone J. F. Souza Departament of Electrical Engineering Federal University of Minas Gerais Belo Horizonte Brazil Department of Control and Automation Engineering Federal University of Ouro Preto MG Brazil Institute of Computing Fluminense Federal University Niterói Brazil Department of Computer Science Federal University of Ouro Preto MG Brazil

Energy plants represent large energy consumers with a wide array of energy needs, assets (e.g. boilers, chillers, storage, on-site generation), and constraints on operations. An innovative energy management system for energy plants is presented in this paper. Through predictive optimization of plant assets, energy analytics, pricing signals, and historical and realtime data, the online energy management system supplies energy plants with salient hourly, real-time recommendations and enables “what-if” analysis to achieve improved economic efficiency. Within a systems context, the paper draws upon ideas from power systems and highlights technical issues related to plant optimization. The paper also describes actual implementations of the energy management solution at two energy plants in the US, providing economic details and an analysis of the savings achieved.

关键词： Turbines Natural gas Boilers Cooling Economics Optimization

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Modelling and validation of a regenerative shock absorber system

Modelling and validation of a regenerative shock absorber sy...

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International Conference on automation and computing (ICAC)

作者： Ruichen Wang Zhi Chen Haijun Xu Karsten Schmidt Fengshou Gu Andrew.D. Ball Centre for Efficiency and Performance Engineering University of Huddersfield Huddersfield UK Department of Vehicle Engineering Taiyuan University of Technology Taiyuan Shanxi P.R. China School of Mechatronics and Automation National University of Defense Technology Changsha Hunan P.R. China Department of Computing and Engineering Frankfurt University of Applied Sciences Frankfurt Germany

For effective energy regeneration and vibration dampening, energy regenerative suspension systems have received more studies recently. This paper presents the dynamic modeling and a test system of a regenerative shock absorber system which converts vibration motion into rotary motion through the adjustment of hydraulic flow. Hydraulic circuit configuration achieves the one way flow and energy regeneration during both compression and extension strokes. The dynamic modeling is performed for the evaluation of design concept and the feasibility studies of regenerative shock absorber system theoretically. Based on simulated results, the efficiency of hydraulic transmission is optimized and validated in test system. The results show that the performance of hydraulic fluid, the features of rotary motion and the capability of energy regeneration are verified and compared between dynamic modeling and experiments. Meanwhile, the average power of 118.2W and 201.7W with the total energy conversion of 26.86% and 18.49% can be obtained based on experiments under sinusoidal inputs with 0.07854m/s and 0.1256m/s respectively.

关键词： Shock absorbers DC motors Valves Shafts Generators Permanent magnet motors Voltage measurement

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Security impact assessment of industrial automation systems using genetic algorithm and simulation

Security impact assessment of industrial automation systems ...

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International Conference on Emerging Technologies and Factory automation (ETFA)

作者： Nikolaos Papakonstantinou Seppo Sierla Konstantinia Charitoudi Bryan O'Halloran Tommi Karhela Valeriy Vyatkin Irem Turner Department of Electrical Engineering and Automation Aalto University Finland Faculty of Computing Engineering and Science (FCES) University of South Wales UK School of Mechanical Industrial and Manufacturing Engineering Oregon State University OR USA VTT Technical Research Centre of Finland Finland Department of Computer Science Electrical and Space Engineering Luleå Tekniska Universitet Sweden Oregon State University Corvallis OR US

Much of the research on security of industrial automation systems has focused on countermeasures such as intrusion detection, certificate management or public key infrastructures. Due to limited resources, countermeasures should be focused to prevent the attacks with highest potential for damage. The impact of an attack can only be determined through a detailed analysis of the interactions of the automation system and the physical system under control. Attacks against single components are similar to ordinary component failures, so our focus is on deliberate damage to several components, since such scenarios are not considered in reliability engineering methods used for industrial automation systems. A simulation based security impact assessment method is proposed, using genetic algorithms to explore the range of possible attacks.

关键词： Genetic algorithms Computational modeling Biological cells Security automation Generators Inductors

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Towards an inclusive Parkinson's screening system

Towards an inclusive Parkinson's screening system

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International Conference on System Theory, Control, and computing (ICSTCC)

作者： Oana Geman Saeid Sanei Iuliana Chiuchisan Adrian Graur Aleš Procházka Oldřich Vyšata Department of Health and Human Development “Stefan eel Mare” University of Suceava Romania Department of Computer Science Electronics and Automation “Stefan cel Mare” University of Suceava Romania Faculty of Engineering and Physical Sciences University of Surrey United Kingdom Department of Computing and Control Engineering Institute of Chemical Technology Czech Republic Department of Neurology Charles University Czech Republic

In this study, brain, and gait dynamic information were combined and used for diagnosis and monitoring of Parkinson's disease (the most important Neurodegenerative Disorder). Analysis of the information corresponding to a prescribed movement involving tremor, and the related changes in brain connectivity is novel and original. Analytically, developing a space-time nonlinear adaptive system which fuses brain and gait information algorithmically is proposed here for the first time. The overall dynamic system will be constrained by the clinical impressions of the patient symptoms embedded in a knowledge-based system. The entire complex constrained problem were solved to enable a powerful model for recognition and monitoring of Parkinson's disease and establishing appropriate rules for its clinical following up.

关键词： Brain modeling Adaptation models Parkinson's disease Chaos Signal processing algorithms Nonlinear dynamical systems

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