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Prospects for the use of wireless reading of prosthetic control signals and methods for generating commands

IOP Conference Series: Materials Science and engineering 2021年第1期1019卷

作者： D Malakhov V Zhmud V Avrmachuk D Gryaznov J Nosek L Dimitrov Department of Automation Novosibirsk State Technical University Novosibirsk Russia Department of Complex Information Security of Computer Systems Tomsk State University of Control Systems and Radioelectronics Tomsk Russia Department of Mechatronics and Computer Engineering (MTI) Faculty of Mechatronics Informatics and Interdisciplinary Studies Technical University of Liberec Liberec Czech Republic Vice rector Technical University of Sofia Sofia Bulgaria

The paper provides a rationale for the use of low-power wireless communication to create non-invasive bionic limb prostheses. The need for such a connection is dictated, on the one hand, by the expediency of using sensors located in various parts of the body, often very remote from each other, on the other hand, by the desire to free the disabled person's body from the wires that would envelop it like a spider web. For each of these positions, arguments are given.

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Decision-Making in Driver-automation Shared control: A Review and Perspectives

arXiv

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arXiv 2020年

作者： Wang, Wenshuo Na, Xiaoxiang Cao, Dongpu Gong, Jianwei Xi, Junqiang Xing, Yang Wang, Fei-Yue CA94720 United States Department of Engineering University of Cambridge Trumpington Street CambridgeCB2 1PZ United Kingdom Mechanical and Mechatronics Engineering University of Waterloo 200 University Ave. West Waterloo ONN2L3G1 Canada Department of Mechanical Engineering Beijing Institute of Technology Beijing100081 China School of Mechanical and Aerospace Engineering Nanyang Technological University Singapore639798 Singapore State Key Laboratory for Management and Control of Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Changsha410073 China

Shared control schemes allow a human driver to work with an automated driving agent in driver-vehicle systems while retaining the driver’s abilities to control. The human driver, as an essential agent in the driver-vehicle shared control systems, should be precisely modeled regarding their cognitive processes, control strategies, and decision-making processes. The interactive strategy design between drivers and automated driving agents brings an excellent challenge for human-centric driver assistance systems due to the inherent characteristics of humans. Many open-ended questions arise, such as what proper role of human drivers should act in a shared control scheme? How to make an intelligent decision capable of balancing the benefits of agents in shared control systems? Due to the advent of these attentions and questions, it is desirable to present a survey on the decision-making between human drivers and highly automated vehicles, to understand their architectures, human driver modeling, and interaction strategies under the driver-vehicle shared schemes. Finally, we give a further discussion on the key future challenges and opportunities. They are likely to shape new potential research directions. Copyright © 2020, The Authors. All rights reserved.

关键词： Decision making

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Coordinated Stochastic Scheduling for Improving Wind Power Adsorption in Electric Vehicles-Wind Integrated Power Systems by Multi-objective Optimization Approach

Coordinated Stochastic Scheduling for Improving Wind Power A...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Yuanzheng Li Zhixian Ni Tianyang Zhao Minghui Yu Yun Liu Lei Wu Key Laboratory of Control of Power Transmission and Conversion (SJTU) Ministry of Education Shanghai School of Artificial Intelligence and Automation Huazhong University of Science and Technology Wuhan China School of Electrical and Electronic Engineering Nanyang Technological University Singapore College of Mechatronics and Control Engineering Shenzhen University Shenzhen China Stevens Institute of Technology Hoboken New Jersey USA

Electric vehicles (EVs) and renewable energy (RE), such as wind power, have been widely utilized to meet the sustainable development of our society. To this end, researches on operation performance of the EV-wind integrated power system are important. This paper proposes a coordinated stochastic scheduling model based on a multi-objective optimization approach, which aims to improve wind power adsorption while considering energy conservation and emission reduction of thermal generators. Besides, to conduct comprehensive investigation among these multiple objectives, we formulate the coordinated stochastic scheduling model as a multi-objective optimization problem. Then, a multi-objective optimization algorithm based on a parameter adaptive differential evolution is proposed to solve this problem. Simulation results based on a modified Midwestern US power system verify that the proposed scheduling model could reveal the relationship among multiple objectives, and the integration of EVs can improve wind power adsorption and cost effectiveness of the power system.

关键词： Wind power generation Power systems Scheduling Stochastic processes Wind speed Optimal scheduling

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Performance comparison of optimization techniques in EHS system using sliding mode controller

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IOP Conference Series: Materials Science and engineering 2020年第1期834卷

作者： M S Chai R Ghazali S H Chong C C Soon J Too Y M Sam Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia. Control & Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Johor Bahru Malaysia

Electro-Hydraulic Servo (EHS) system is a well-known nonlinear system in various types of industries due to its outstanding characteristics over other actuators. Despite its wide applications in industries, this system also suffering from nonlinearities and parameter uncertainties. Sliding Mode controller (SMC) has been proven by many researchers to be effective in positioning control of the nonlinear system. However, SMC controller parameters must be tuned in appropriate ways to control the EHS system. In this research, an SMC strategy which combines with an enhanced PSO called Multi-Objective Particle Swarm Optimization (MOPSO) is proposed in positioning control of the EHS system. The conventional PSO is design as well for comparison purpose. The output performance is analysed and verified using different performance indexes such as rise time, settling time, overshoot percentage, and root mean square error. The results show that the MOPSO is better in tuning the controller parameters.

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Probabilistic Teleportation of an Arbitrary Two-Qubit State via Positive Operator-Valued Measurement with Multi Parties

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Communications in Theoretical Physics 2017年第4期67卷 377-382页

作者：石磊魏家华李云霞马丽华薛阳罗均文 Information and Navigation College Air Force Engineering University Department of Automatic Control College of Mechatronics and AutomationNational University of Defense Technology

We propose a novel scheme to probabilistically transmit an arbitrary unknown two-qubit quantum state via Positive Operator-Valued Measurement with the help of two partially entangled states. In this scheme, the teleportation with two senders and two receives can be realized when the information of non-maximally entangled states is only available for the senders. Furthermore, the concrete implementation processes of this proposal are presented, meanwhile the classical communication cost and the successful probability of our scheme are calculated.

关键词： probabilistic teleportation positive operator-valued measurement successful probability classical communication cost

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Synchronization Tracking of Heterogeneous Robotic Systems with Parametric Uncertainties and Communication Delays 5

Synchronization Tracking of Heterogeneous Robotic Systems wi...

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5th International Conference on Information, Cybernetics, and Computational Social Systems, ICCSS 2018

作者： Yao, Xiang-Yu Ge, Ming-Feng Ding, Hua-Feng Wang, Leimin Liu, Jie Han, Tao Liu, Zhi-Wei School of Mechanical Engineering and Electronic Information China University of Geosciences Wuhan430074 China School of Automation China University of Geosciences Wuhan430074 China Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Huazhong University of Science and Technology Wuhan430074 China School of Hydropower and Information Engineering Huazhong University of Science and Technology Wuhan430074 China College of Mechatronics and Control Engineering Hubei Normal University Huangshi435002 China School of Automation Huazhong University of Science and Technology Wuhan430074 China

ISBN: (纸本)9781538670880

This paper studies synchronization tracking problems of heterogeneous robotic systems in the presence of kinematic uncertainties, dynamic uncertainties and communication delays. To solve the above problems, this paper develops cooperative adaptive controllers based on directed topologies containing spanning trees, which relaxes the constraints on communications than the previous works with undirected or strongly connected topologies. By invoking Lyapunov stability and Input-output stability techniques, sufficient criteria for asymptotical stability of the systems are obtained. Moreover, the obtained results are expanded to formation problems in similar cases. Finally, the validity of the theoretical results and the numerical comparisons with existing work are supported by numerous simulations. © 2018 IEEE.

关键词： Topology

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Intersection Navigation Under Dynamic Constraints Using Deep Reinforcement Learning

Intersection Navigation Under Dynamic Constraints Using Deep...

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International Conference on control, engineering & Information Technology (CEIT)

作者： Ali Demir Volkan Sezer Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9781538676424

In this study, we present a unified motion planner with low- level controller for continuous control of a differential drive mobile robot. Deep reinforcement agent takes 10 dimensional state vector as input and calculates each wheel's torque value as a 2 dimensional output vector. These torque values are fed into the dynamic model of the robot, and lastly steering commands are gathered. In previous studies, navigation problem solutions that uses deep - RL methods, have not been considered with agent's own dynamic constraints, but it has been done by only considering kinematic models. This is not reliable enough for real-world scenarios. In this paper, deep-RL based motion planning is performed by considering both kinematic and dynamic constraints. According to the simulations in a dynamic environment, the agent succesfully navigates through the intersection with 99.6% success rate.

关键词： Mathematical model Robot kinematics Mobile robots Dynamics Torque Vehicle dynamics

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Design and Implementation of Autonomous Parallel and Vertical Parking Mobile Vehicle

Design and Implementation of Autonomous Parallel and Vertica...

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International Conference on control, engineering & Information Technology (CEIT)

作者： Abdullah Kızıl Arzuman Can Kutlucan Cihad Doğan Sena Koçak Volkan Sezer Mechatronics Engineering Department Istanbul Technical University Istanbul Turkey Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9781538676424

With the increase of autonomous vehicle popularity, autonomous parking approaches become more critical. In this study, the autonomous parking problem of a model car with Ackermann steering system is discussed and various algorithms have been tested for both vertical and parallel parking. We also propose a method for the problem of vertical parking. Algorithms have been tested in the simulation environment and on the designed vehicle model. It has been observed that the parking process is successful in real-world tests.

关键词： Mathematical model Kinematics Wheels Software algorithms Robot sensing systems Automobiles DC motors

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Hazard-evaluation-oriented Moving Horizon Parallel Steering control for Driver-automation Collaboration During Automated Driving

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IEEE/CAA Journal of Automatica Sinica 2018年第6期5卷 1062-1073页

作者： Hongyan Guo Linhuan Song Jun Liu Fei-Yue Wang Dongpu Cao Hong Chen Chen Lv Partick Chi-Kwong Luk State Key Laboratory of Automotive Simulation and Control and the Department of Con-trol Science and Engineering Jilin University(Campus Nanling)Changchun130025China State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of SciencesBeijing 100190China Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense TechnologyChangsha 410073China Mechanical and Mechatronics Engineering Department at the University ot Waterloo 200 University Avenue West WaterlooONNZL3G1Canada Department of Automotive Engineering Cranfield UniversityBedfordshire MK43 0ALUK School of Water Energy and EnvironmentCranfield UniversityBedfordshire MK43 0ALUK

Prompted by emerging developments in connected and automated vehicles, parallel steering control, one aspect of parallel driving, has become highly important for intelligent vehicles for easing the burden and ensuring the safety of human drivers. This paper presents a parallel steering control framework for an intelligent vehicle using moving horizon *** framework considers lateral stability, collision avoidance and actuator saturation and describes them as constraints, which can blend the operation of a human driver and a parallel steering controller effectively. Moreover, the road hazard and the steering operation error are employed to evaluate the operational hazardous of an intelligent vehicle. Under the hazard evaluation,the intelligent vehicle will be mainly operated by the human driver when the vehicle operates in a safe and stable *** automated steering driving objective will play an active role and regulate the steering operations of the intelligent vehicle based on the hazard evaluation. To verify the effectiveness of the proposed hazard-evaluation-oriented moving horizon parallel steering control approach, various validations are conducted, and the results are compared with a parallel steering scheme that does not consider automated driving situations. The results illustrate that the proposed parallel steering controller achieves acceptable performance under both conventional conditions and hazardous conditions.

关键词： Hazard evaluation intelligent vehicle atera stability moving horizon optimization paralle steering control

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CenterNet3D: An anchor free object detector for point cloud

arXiv

引用

arXiv 2020年

作者： Wang, Guojun Wu, Jian Tian, Bin Teng, Siyu Chen, Long Cao, Dongpu The State Key Laboratory of Automotive Simulation and Control Jilin University Changchun130022 China The State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing100190 China The School of Artificial Intelligence University of Chinese Academy of Sciences Beijing100190 China The Department of Computer Science Hong Kong Baptist University Hong Kong The School of Data and Computer Science Sun Yat-Sen University Guangdong Guangzhou510275 China The Department of Mechanical and Mechatronics Engineering University of Waterloo WaterlooONN2L 3G1 Canada

Accurate and fast 3D object detection from point clouds is a key task in autonomous driving. Existing one-stage 3D object detection methods can achieve real-time performance, however, they are dominated by anchor-based detectors which are inefficient and require additional post-processing. In this paper, we eliminate anchors and model an object as a single point-the center point of its bounding box. Based on the center point, we propose an anchor-free CenterNet3D network that performs 3D object detection without anchors. Our CenterNet3D uses keypoint estimation to find center points and directly regresses 3D bounding boxes. However, because inherent sparsity of point clouds, 3D object center points are likely to be in empty space which makes it difficult to estimate accurate boundaries. To solve this issue, we propose an extra corner attention module to enforce the CNN backbone to pay more attention to object boundaries. Besides, considering that one-stage detectors suffer from the discordance between the predicted bounding boxes and corresponding classification confidences, we develop an efficient keypoint-sensitive warping operation to align the confidences to the predicted bounding boxes. Our proposed CenterNet3D is non-maximum suppression free which makes it more efficient and simpler. We evaluate CenterNet3D on the widely used KITTI dataset and more challenging nuScenes dataset. Our method outperforms all state-of-the-art anchor-based one-stage methods and has comparable performance to two-stage methods as well. It has an inference speed of 20 FPS and achieves the best speed and accuracy trade-off. Our source code will be released at https://***/wangguojun2018/CenterNet3d. Copyright © 2020, The Authors. All rights reserved.

关键词： Autonomous vehicles

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