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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Zhang, Fuquan Wu, Yu Xu, Xinxin Wang, Chuansheng Ma, Minjia Grau, Antoni Huang, Jiayan School of Computer and Big Data Minjiang University Fuzhou China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China College of New Engineering Industry Putian University Putian China Department of Automatic Control Polytechnic University of Catalonia Barcelona Spain School of Robotics Xi'an Jiaotong-Liverpool University Suzhou China College of New Engineering Industry Putian University Fujian Ruituo Information Technology Limited Company Putian China

ISBN: (纸本)9798350386226

Fatigue driving is a common potential traffic safety hazard. To detect and analysis the driver Fatigue degree in real-time, more attention have been increasing paid to application research of EEG fatigue detection device. However, existing methods suffer from complex model structure or large-scale model parameters. In the other words, they requires high computational consumption and large memory footprint, which creates a contradiction between model and portable EEG machine with limited hardware resources. In this work, we take both time and frequency domains of EEG signal into account and design an lightweight and efficient driver fatigue detection network based on GCN (EEG-GNet), which is available edge-end device application. Experiments on 4th Raspberry Pi on a public baseline dataset show that our EEG-GNet outperforms the state-of-the-art methods and takes good tradeoff between detection accuracy and resource consumption. Our EEG-GNet provides a new potential opportunity for future applications in practical portable/wearable (P/W) devices. © 2024 IEEE.

关键词： Electrocardiography

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Design of a Variable Stiffness Spring with Human-Selectable Stiffness

Design of a Variable Stiffness Spring with Human-Selectable ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Chase W. Mathews David J. Braun Department of Mechanical Engineering Advanced Robotics and Control Laboratory within the Center for Rehabilitation Engineering and Assistive Technology Vanderbilt University Nashville Tennessee USA

Springs are commonly used in wearable robotic devices to provide assistive joint torque without the need for motors and batteries. However, different tasks (such as walking or running) and different users (such as athletes with strong legs or the elderly with weak legs) necessitate different assistive joint torques, and therefore, springs with different stiffness. Variable stiffness springs are a special class of springs which can exert more or less torque upon the same deflection, provided that the user is able to change the stiffness of the spring. In this paper, we present a novel variable stiffness spring design in which the user can select a preferred spring stiffness similar to switching gears on a bicycle. Using a leg-swing experiment, we demonstrate that the user can increment and decrement spring stiffness in a large range to effectively assist the hip joint during leg oscillations. Variable stiffness springs with human-selectable stiffness could be key components of wearable devices which augment locomotion tasks, such as walking, running, and swimming.

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A New Method for Automatic Planning of Cyber-Physical Production System's control Logic based on State Space Method and Semantic Web Technology 7

A New Method for Automatic Planning of Cyber-Physical Produc...

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7th International Conference on Intelligent Computing and Signal Processing, ICSP 2022

作者： Wang, Peng Wang, Zhongfeng Li, Ligang Wang, Chu Hu, Kunyuan Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781665478571

Rapid reconfiguration is an important capability of flexible production system supporting personalized customization. When the product requirement change and the existing capacity configuration of the production system cannot meet the new requirement, the production system needs to be reconfigured. Aiming at automating the control logic planning process, this paper propose a new method based on state space and semantic web. Unified modelling concepts and relations between product, equipment and production system are built in an ontological model and different types of semantic queries are defined to process the ontology instance which will be leveraged by the process to construct the state space model. In addition, an linear programming method is used to drive the final control logic inside the generated space model. © 2022 IEEE.

关键词： State space methods

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A Novel Cyber-physical production systems (CPPS) Architecture for Rapid Reconfiguration 7

A Novel Cyber-physical production systems (CPPS) Architectur...

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7th International Symposium on Advances in Electrical, Electronics, and Computer Engineering

作者： Wang, Peng Wang, Zhongfeng Wang, Chu Hu, Kunyuan Li, Ligang Song, Chunhe Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

ISBN: (纸本)9781510656437

Cyber-physical production systems (CPPS) is of great importance for improving production efficiency. In this paper, first, the background and technical characteristics of CPPS are introduced. Aiming at dealing with the challenge of integration in traditional production management and control systems, a CPPS architecture that supports rapid reconfiguration is proposed. The architecture is based on service-oriented architecture, so it has the characteristics of peer-to-peer interaction and flexible integration. In this way, engineering data integration, business logic transformation and engineering process support can be achieved. Based on the proposed architecture, a reconfigurable CPPS prototype is developed, and the advantages of the architecture are tested and verified. © 2022 SPIE. All rights reserved.

关键词： Production efficiency

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A fault detection method for AUV based on multi-scale spatiotemporal feature fusion 5

A fault detection method for AUV based on multi-scale spatio...

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5th International Conference on Computer Information Science and Artificial Intelligence, CISAI 2022

作者： Xia, Shaoxuan Zhou, Xiaofeng Shi, Haibo Li, Shuai Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang110169 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9781510662520

Autonomous underwater vehicles (AUVs) are important equipment for ocean development and exploration. To ensure the task implementation of AUV, faults shall be detected in time. We propose a fault detection method based on multi-scale spatiotemporal feature fusion (MSF) for the time-varying characteristics and multiple correlation characteristics of AUV monitoring data. First, we apply a variety of sampling and data processing methods to generate monitoring windows with different scales along the time axis. Then, a composite feature extraction method is proposed to obtain temporal and spatial features simultaneously, and a feature pyramid of temporal and spatial information is formed. We use bidirectional long short-term memory (BiLSTM) to obtain the time-series characteristics of a single monitoring variable, and convolutional neural networks (CNN) to obtain the implicit spatial relationship characteristics among multiple monitoring variables. Next, we use an adaptive feature fusion method to solve the inconsistency in different feature scales, which can adaptively suppress the possible conflict information of different scale features. Finally, we use a fully connected network to detect the fault of the fused features. The fault detection experiment of Haizhe AUV shows the effectiveness and superiority of the proposed method. © 2023 SPIE.

关键词： Autonomous underwater vehicles

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A Battery control Strategy for Sequential Utilization of Energy Storage Systems in Power Batteries

A Battery Control Strategy for Sequential Utilization of Ene...

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IEEE Advanced Information Technology, Electronic and Automation control Conference (IAEAC)

作者： Bowen Li Shijie Cui Lizhong Zhu College of Automation and Electrical Engineering Shenyang Ligong University Liaoning China State Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Liaoning China Institutes for Robotics and Intelligent Manufacturing Chinese Academy of Sciences Shenyang China

With the widespread adoption of energy storage systems utilizing power batteries, battery lifespan degradation has become a primary constraint on system performance. To address this issue, this study proposes a lifespan-optimized battery control strategy. Firstly, a battery lifespan calculation model for the energy storage system is established, taking into detailed consideration key parameters such as battery State of Charge (SOC). Secondly, a control strategy based on SOC for charging and discharging is designed, aiming to minimize battery lifespan consumption to the greatest extent possible. Finally, experimental results demonstrate that the proposed control strategy significantly improves the lifespan of the energy storage system compared to existing strategies. This research provides an effective means of control for the long-term stable operation of power battery systems.

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Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-robot Systems

arXiv

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arXiv 2023年

作者： Huang, Jihao Zeng, Jun Chi, Xuemin Sreenath, Koushil Liu, Zhitao Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Hybrid Robotics Group The Department of Mechanical Engineering UC Berkeley United States

Obstacle avoidance for multi-robot navigation with polytopic shapes is challenging. Existing works simplify the system dynamics or consider it as a convex or non-convex optimization problem with positive distance constraints between robots, which limits real-time performance and scalability. Additionally, generating collision-free behavior for polytopic-shaped robots is harder due to implicit and non-differentiable distance functions between polytopes. In this paper, we extend the concept of velocity obstacle (VO) principle for polytopic-shaped robots and propose a novel approach to construct the VO in the function of vertex coordinates and other robot’s states. Compared with existing work about obstacle avoidance between polytopic-shaped robots, our approach is much more computationally efficient as the proposed approach for construction of VO between polytopes is optimization-free. Based on VO representation for polytopic shapes, we later propose a navigation approach for distributed multi-robot systems. We validate our proposed VO representation and navigation approach in multiple challenging scenarios including large-scale randomized tests, and our approach outperforms the state of art in many evaluation metrics, including completion rate, deadlock rate, and the average travel distance. Copyright © 2023, The Authors. All rights reserved.

关键词： Multipurpose robots

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Resource Allocation for Reliable Transmission in IRS-Assisted Industrial Wireless Sensor Networks 18th

Resource Allocation for Reliable Transmission in IRS-Assis...

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18th China Conference on Wireless Sensor Networks, CWSN 2024

作者： Wang, Chuqing Zheng, Meng Liang, Wei Key Laboratory of Robotics Shenyang Institute of Automation Chinese Academy of Sciences Shenyang110016 China Key Laboratory of Networked Control Systems Chinese Academy of Sciences Shenyang110016 China University of Chinese Academy of Sciences Beijing100049 China

ISBN: (纸本)9789819621880

Intelligent Reflecting Surface (IRS) is one of the promising technologies for improving transmission reliability of Industrial Wireless Sensor Networks (IWSNs) by creating a virtual line-of-sight (LoS) link to bypass obstacles between transceivers. In this paper, we consider an IRS-assisted IWSN and propose a resource allocation method for reliable transmission in the IRS-assisted IWSN. First, a transmission reliability optimization problem in terms of the reflective beamforming at the IRS and the timeslot and power allocated to sensors is formulated. Second, the formulated optimization problem is transformed into an equivalent but simplified problem. In subsequent, a particle swarm optimization based method is utilized to obtain a near-optimal solution. Simulation results demonstrate that this work yields higher transmission reliabilities than existing benchmark schemes. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Particle swarm optimization (PSO)

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Trajectory Planning for Minimizing Floating Pedestal Disturbance of Spatial Dual-Arm Robots

Trajectory Planning for Minimizing Floating Pedestal Disturb...

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第43届中国控制会议

作者： Hui Zhang Xiaozhong Zuo Wei Zhang Sheng Gao College of Electrical and Control Engineering Shenyang Jianzhu University State Key Laboratory of Robotics Shenyang Institute of AutomationChinese Academy of Sciences China-Portugal Belt and Road Joint Laboratory on Space & Sea Technology Advanced Research

ISBN: (数字)9789887581581

ISBN: (纸本)9798350366907

This paper addresses the trajectory planning problem of a spatial dual-arm robot and proposes a method to minimize the floating pedestal perturbation using a nonlinear planning *** joint angle of the dual-arm robot is the optimization variable,and the positioning accuracy of the end-effector and the pedestal disturbance are the optimization objective and constraints,respectively.A constrained multi-objective optimization problem is formulated,and the kinematic model of the robot is established by parameterizing the joint trajectory.A penalty factor and a collision detection mechanism are applied to ensure the safety of the planning process.A nonlinear planning method is used to solve the optimization problem and obtain the optimal joint trajectory of the dual-arm *** results demonstrate that the proposed method effectively reduces the base disturbance while ensuring the positioning accuracy of the end-effector.

关键词： trajectory planning space dual-arm robot multi-objective optimization fmincon

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Fast Path Planning for Autonomous Vehicle Parking with Safety-Guarantee using Hamilton-Jacobi Reachability

arXiv

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arXiv 2023年

作者： Chi, Xuemin Zeng, Jun Huang, Jihao Liu, Zhitao Su, Hongye State Key Laboratory of Industrial Control Technology Institute of Cyber-Systems and Control Zhejiang University Hangzhou China Hybrid Robotics Group the Department of Mechanical Engineering UC Berkeley United States

We present a fast planning architecture called Hamilton-Jacobi-based bidirectional A* (HJBA*) to solve general tight parking scenarios. The algorithm is a two-layer composed of a high-level HJ-based reachability analysis and a lower-level bidirectional A* search algorithm. In high-level reachability analysis, a backward reachable tube (BRT) concerning vehicle dynamics is computed by the HJ analysis and it intersects with a safe set to get a safe reachable set. The safe set is defined by constraints of positive signed distances for obstacles in the environment and computed by solving QP optimization problems offline. For states inside the intersection set, i.e., the safe reachable set, the computed backward reachable tube ensures they are reachable subjected to system dynamics and input bounds, and the safe set guarantees they satisfy parking safety with respect to obstacles in different shapes. For online computation, randomized states are sampled from the safe reachable set, and used as heuristic guide points to be considered in the bidirectional A* search. The bidirectional A* search is paralleled for each randomized state from the safe reachable set. We show that the proposed two-level planning algorithm is able to solve different parking scenarios effectively and computationally fast for typical parking requests. We validate our algorithm through simulations in large-scale randomized parking scenarios and demonstrate it to be able to outperform other state-of-the-art parking planning algorithms. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

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