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IEEE International Conference on Mechatronics and Automation

作者： Oluwaleke Yusuf Maki Habib Department of Mechanical Engineering Robotics Control and Smart Systems (RCSS) Program The American University in Cairo (AUC) Cairo Egypt

Hand Gesture Recognition (HGR) is a form of perceptual computing with applications in human-machine interaction, virtual/augmented reality, and human behavior analysis. Within the HGR domain, several frameworks have been developed with different combinations of input modalities and network architectures with varying levels of efficacy. Such frameworks maximized performance at the expense of increased hardware and computational requirements. These drawbacks can be tackled by transforming the relatively complex dynamic hand gesture recognition task into a simpler image classification task. This paper presents a skeleton-based HGR framework that implements data-level fusion for encoding spatiotemporal information from dynamic gestures into static representational images. Said static images are subsequently processed by a custom, end-to-end trainable multi-stream CNN architecture for gesture classification. Our framework reduces the hardware and computational requirements of the HGR task while remaining competitive with the state-of-the-art on the CNR, FPHA, LMDHG, SHREC2017, and DHG142S benchmark datasets. We demonstrated the practical utility of our framework by creating a lightweight real-time application that makes use of skeleton data extracted from RGB video streams captured by a standard inbuilt PC webcam. The application operates successfully with minimal CPU and RAM footprint while achieving 93.46% classification accuracy with approximately 2s latency at 15 frames per second.

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Pedestrian detection with high-resolution event camera

arXiv

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arXiv 2023年

作者： Wzorek, Piotr Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow Poland

Despite the dynamic development of computer vision algorithms, the implementation of perception and control systems for autonomous vehicles such as drones and self-driving cars still poses many challenges. A video stream captured by traditional cameras is often prone to problems such as motion blur or degraded image quality due to challenging lighting conditions. In addition, the frame rate – typically 30 or 60 frames per second – can be a limiting factor in certain scenarios. Event cameras (DVS – Dynamic Vision Sensor) are a potentially interesting technology to address the above mentioned problems. In this paper, we compare two methods of processing event data by means of deep learning for the task of pedestrian detection. We used a representation in the form of video frames, convolutional neural networks and asynchronous sparse convolutional neural networks. The results obtained illustrate the potential of event cameras and allow the evaluation of the accuracy and efficiency of the methods used for high-resolution (1280 x 720 pixels) footage. © 2023, CC BY.

关键词： Cameras

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Target Defense with Multiple Defenders and an Agile Attacker via Residual Policy Learning

arXiv

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arXiv 2025年

作者： Tao, Jiyue Shen, Tongsheng Zhao, Dexin Zhang, Feitian Robotics and Control Laboratory Department of Advanced Manufacturing and Robotics College of Engineering and the State Key Laboratory of Turbulence and Complex Systems Peking University Beijing100871 China National Innovation Institute of Defense Technology Beijing100071 China

The target defense problem involves intercepting an attacker before it reaches a designated target region using one or more defenders. This letter focuses on a particularly challenging scenario in which the attacker is more agile than the defenders, significantly increasing the difficulty of effective interception. To address this challenge, we propose a novel residual policy framework that integrates deep reinforcement learning (DRL) with the force-based Boids model. In this framework, the Boids model serves as a baseline policy, while DRL learns a residual policy to refine and optimize the defenders’ actions. Simulation experiments demonstrate that the proposed method consistently outperforms traditional interception policies, whether learned via vanilla DRL or fine-tuned from force-based methods. Moreover, the learned policy exhibits strong scalability and adaptability, effectively handling scenarios with varying numbers of defenders and attackers with different agility levels. Copyright © 2025, The Authors. All rights reserved.

关键词： Adversarial machine learning

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Robust Triangular Decoupling Velocity Varying controllers for Four Wheel Steering Autonomous Vehicles

Robust Triangular Decoupling Velocity Varying Controllers fo...

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International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Michael G. Skarpetis Fotis N. Koumboulis Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National and Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

This study explores the challenges of achieving triangular decoupling in a specific group of linear parameter-dependent systems that have uncertain structures, with a particular emphasis on its relevance to four-wheel steering (4WS) vehicles. A new method is presented, combining a state feedback controller that includes static and time-varying elements. The main goal of this controller design is to guarantee triangular decoupling properties and Hurwitz invariability in the face of system uncertainties. The proposed method involves developing the controller and setting solvability criteria to transform the original Parameter Dependent Uncertain System into an uncertain Linear Time-Invariant (LTI) system and subsequently meeting LTI triangular decoupling characteristics. The practical significance of the results is shown by their effective use in controlling the motion of a velocity varying four-wheel steering (4WS) car model with uncertain virtual mass and cornering stiffnesses.

关键词： Linear systems Uncertain systems State feedback Uncertainty Wheels Transforms Reliability Automobiles Time-varying systems Manufacturing automation

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A Two-Step Design for Robust Input-Output Decoupling of a Class of Uncertain and Linear Parameter Dependent systems

A Two-Step Design for Robust Input-Output Decoupling of a Cl...

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Mediterranean Conference on control and Automation (MED)

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

This research delves into the intricacies of achieving input-output decoupling for a class of uncertain linear parameter dependent systems. A combined approach is introduced, involving the utilization of a state feedback controller that incorporates both static and time-varying elements. The design of this controller aims to maintain insensitivity to uncertainties. The investigation establishes criteria for determining the feasibility of solving the robust input-output decoupling problem. Under these established conditions, a specific class of state feedback controllers is systematically identified as proficient in effectively addressing the stated problem. The proposed methodology entails deriving the controller and formulating solvability conditions to convert the original Parameter Dependent System (PDS) into an uncertain Linear Time-Invariant (L TI) system. Then an analytical presentation of a static state feedback controller is provided as a mean to resolve the input-output robust decoupling for the uncertain L TI system. The practical applicability of these findings is exemplified through successful implementation in a two-mass translation system, appropriately linked with a hydraulic actuator.

关键词： State feedback Uncertain systems Sufficient conditions Uncertainty Automation Hydraulic actuators control systems

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Supervisory control for Smart Manufacturing Using FIWARE

Supervisory Control for Smart Manufacturing Using FIWARE

引用

On-Line Conference (ONCON), Industrial Electronics Society Annual

作者： Antonios N. Menexis Dimitrios G. Fragkoulis Fotis N. Koumboulis Nikolaos D. Kouvakas Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National & Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798331540319

ISBN: (纸本)9798331540326

The problem of providing smart manufacturing units, via supervisor control implemented in FIWARE, is studied. In order to investigate the problem at hand, an indicative manufacturing unit is considered, and the desired safe performance of the unit is achieved via a supervisory control architecture, being implemented in cloud computing environment. The model of the manufacturing unit is developed on the basis of the models of its sensors and actuators, in Discrete Event System (DES) form. The safe behavior of the unit is expressed in the form of nine rules. The rules are translated into nine regular languages that are realized as a set of proper supervisors. The supervisors are analytically determined and conducted in the open platform FIWARE, using all necessary smart data models and platform tools.

关键词： Cloud computing Actuators Web services Computational modeling Supervisory control Data models Sensor systems Intelligent sensors Smart manufacturing Milling machines

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A FIWARE based Input-Output Supervisor control Implementation

A FIWARE based Input-Output Supervisor Control Implementatio...

引用

International Conference on Emerging Technologies and Factory Automation (ETFA)

作者： Antonios N. Menexis Dimitrios G. Fragkoulis Fotis N. Koumboulis Michael G. Skarpetis Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National & Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798350361230

ISBN: (纸本)9798350361247

In this paper, a FIWARE based control implementation framework for supervisory control of inputoutput models, in Discrete Event System (DES) form, will be introduced, through the case study of an industrial product transfer system having a parametric number of conveyor belts. Each conveyor belt has an actuator (motor) for the belt's clockwise move and a sensor for the detection of the presence of a product. The model of each actuator and the model of each sensor of the belt are expressed in DES form. The input-output relation between consecutive conveyor belts is formally expressed. The satisfactory cooperation between consecutive conveyor belts has been guaranteed by developing a set of two types of supervisors for each cooperative pair. The actuators and the sensors of each belt have been described as smart data models. Finally, an implementation of the proposed supervisor scheme in FIWARE has been proposed.

关键词： Actuators Supervisory control Belts Motors Data models Discrete-event systems Manufacturing automation

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High-precision Calibration of Camera and IMU on Manipulator for Bio-inspired Robotic System

引用

Journal of Bionic Engineering 2022年第2期19卷 299-313页

作者： Yinlong Zhang Wei Liang Sichao Zhang Xudong Yuan Xiaofang Xia Jindong Tan Zhibo Pang State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of SciencesShenyang 110016China Key Laboratory of Networked Control Systems Chinese Academy of SciencesShenyang 110016China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of SciencesShenyang 110169China The School of Computer Science and Technology Xidian UniversityXi’an 710071China Department of Mechanical Aerospace and Biomedical EngineeringUniversity of TennesseeKonxville 37996USA Department of Automation Technology ABB Corporate Research Sweden72178 VästerasSweden

Inspired by box jellyfish that has distributed and complementary perceptive system,we seek to equip manipulator with a camera and an Inertial Measurement Unit(IMU)to perceive ego motion and surrounding unstructured *** robot perception,a reliable and high-precision calibration between camera,IMU and manipulator is a critical *** paper introduces a novel calibration ***,we seek to correlate the spatial relationship between the sensing units and manipulator in a joint ***,the manipulator moving trajectory is elaborately designed in a spiral pattern that enables full excitations on yaw-pitch-roll rotations and x-y-z translations in a repeatable and consistent *** calibration has been evaluated on our collected visual inertial-manipulator *** systematic comparisons and analysis indicate the consistency,precision and effectiveness of our proposed calibration method.

关键词： Bio-inspired robotic system Monocular camera IMU Manipulator Calibration

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Input-Output Supervisor Design for systems Analyzed in Cooperating Pairs of Subsystems

Input-Output Supervisor Design for Systems Analyzed in Coope...

引用

Mediterranean Conference on control and Automation (MED)

作者： Fotis N. Koumboulis Dimitrios G. Fragkoulis Department of Digital Industry Technologies Robotics Automatic Control and Cyber-Physical Systems Laboratory School of Science National & Kapodistrian University of Athens Euboea Greece

ISBN: (数字)9798350395440

ISBN: (纸本)9798350395457

The problem of supervisor design for systems analyzed in cooperating pairs of subsystems is studied. The supervisors realize the cooperation using only sensor and actuator data of each pair of subsystems. The analysis of the system in cooperating pairs of subsystems covers a wide range of applications. Each cooperating ordered pair forms a master/slave relation between the sensor signals of the second element of the pair and the actuator of the first element of the pair. All possible cooperation relations are determined and investigated with respect to the avoidance of blocking and stuck to the initial states of the actuators. The system properties of the cooperation are formulated in a set theoretic scheme that allows the determination of the set of admissible cooperation rules. The present theoretical results are illustrated through one manufacturing application and one infrastructure application.

关键词： Actuators Automation control design Energy exchange Robot sensing systems Main-secondary Manufacturing

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Signal Processing for Acoustic Emission Signature Analysis and Defect Detection

Signal Processing for Acoustic Emission Signature Analysis a...

引用

Digital Signal Processing and its Applications (DSPA), International Conference on

作者： Yeldos A. Altay Dmitry O. Kuzivanov Dinara A. Altay Alexey V. Fedorov Department of Robotics and Technical Means of Automation Satbayev University Almaty Kazakhstan Faculty of Control Systems and Robotics ITMO University Saint-Petersburg Russian Federation Department of Natural Sciences Military Engineering Institute of Radio Electronics and Communications Almaty Kazakhstan

This article presents the results of implementing a digital signal processing method for analyzing the acoustic emission (AE) signature and detecting defects such as cracks and pores. The signal processing method is based on a cascade connection of digital high-pass filters and ensures the selection of informative signals and increases the signal-to-interference ratio. In order to control the formation of defects in the process of selective laser melting, the paper presents the results of experimental testing of the cascade filtration method for detecting defects in the internal structure such as cracks and pores. The signal components recorded during the development of defects during the growth of additive manufacturing products were extracted. AE signatures were analyzed and statistical relationships were assessed. The relationship between the parameters of the AE signal and the values of laser radiation power has been identified, which characterizes the process of defect formation.

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