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Effects of a Memory-Engaging Secondary Task in a Virtual Setting for Stimulating the Embodiment of an Artificial Upper Limb

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Effects of a Memory-Engaging Secondary Task in a Virtual Set...

IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO

作者： Andrea Lucaroni Andrea Bottino Fabrizio Lamberti Giulia Mariani Andrea Marinelli Nicolò Boccardo Emanuele Gruppioni Lorenzo De Michieli Matteo Laffranchi Giacinto Barresi Rehab Technologies Lab Istituto Italiano di Tecnologia Genoa Italy Department of Informatics Bioengineering Robotics and Systems Engineering Università degli Studi di Genova Genoa Italy Department of Control and Computer Engineering Politecnico di Torino Turin Italy Open University Affiliated Research Centre at Istituto Italiano di Tecnologia (ARC@IIT) Genoa Italy Centro Protesi INAIL Istituto Nazionale per l’Assicurazione contro gli Infortuni sul Lavoro Bologna Italy

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

The embodiment (the sensation that an external object is part of one’s body scheme) is one of the processes targeted by the research in bionic prosthetics as a potential strategy to increase the acceptance of artificial limbs. This study investigates how one of the components of the embodiment, the body ownership (the sensation of possessing the external object), may be affected by a secondary task (possibly competing for cognitive resources requested for the embodiment itself) in a virtual exergame for prosthetic training. In this preliminary study participants, without impairments, are asked to perform activities of pick-and-place in two conditions by using a digital model of the Hannes bionic hand: (i) one is cognitively challenging, requiring to memorize the sequence of objects to move before it disappears; (ii) the other is non-challenging for the subject’s memory, with a constantly visible sequence. In both conditions, each subject is asked to catch objects according to the presented sequence. According to questionnaire data, we noticed how this procedure is feasible. Interestingly, the proprioceptive drift (the person is asked to indicate where they perceive their own real limb without looking at it) in a subsequent Rubber Hand Illusion session with the real bionic hand seems highlighting that the working memory-engaging secondary task can impair the embodiment process in terms of body ownership of the robotic hand. Probably, the memory task actually requires a type of cognitive resources that are necessary for the body ownership process itself during the multisensory stimulation. This allows for envisioning further investigations and novel design concepts for prosthetic training paradigms.

关键词： Training Solid modeling Visualization Biological system modeling Memory management Propioception Virtual environments

Teeth Segmentation from Bite-Wing X-Ray Images by Integrating Nested Dual UNet with Swin Transformers

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Teeth Segmentation from Bite-Wing X-Ray Images by Integratin...

IEEE International Conference on systems, Man and Cybernetics

作者： Yubo Li Yibin Tian Zhiyuan Zhang Xueyang Zhang Bingran Du Zhi Zeng School of Computer and Information Science Chongqing Normal University Chongqing CN College of Mechatronics and Control Engineering Shenzhen University Shenzhen CN Litemaze Technology Shenzhen CN School of Computing and Information Systems Singapore Management University Singapore SG Department of Stomatology Shunde Hospital Southern Medical University (The First People's Hospital of Shunde) Foshan CN

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

In medical practice, the precision of image segmentation is crucial for diagnosis and treatment evaluations. Specifically, in dentistry, accurate teeth segmentation from bite-wing images is important for automatic and objective evaluations of root canal treatments. This study introduces $\text{Swin}-\mathrm{U}^{2} \text{Net}$ , a model merging the nested dual UNet with residual U-block and Swin Transformers. It combines the local feature extraction capability of the former and the global attention and context understanding of the latter. It has been evaluated for tooth root segmentation using 500 bite-wing dental x-ray images obtained from a root canal treatment clinic. It achieved the best segmentation outcome in terms of Intersection over Union (IOU) and the third best result in terms of Dice Similarity Coefficient (DSC) with the second least amount of network parameters among six UNet-like models, thus it is effective and efficient.

关键词： Image segmentation Irrigation Accuracy Merging Teeth Transformers Feature extraction Dentistry X-ray imaging Medical diagnostic imaging

Non-linear State-space Model Identification from Video Data using Deep Encoders

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IFAC-PapersOnLine 2021年第7期54卷 697-701页

作者： Gerben I. Beintema Roland Toth Maarten Schoukens Department of Electrical Engineering Eindhoven University of Technology 5600 MB Eindhoven The Netherlands Systems and Control Laboratory Institute for Computer Science and Control Kende u. 13-17 H-1111 Budapest Hungary

Identifying systems with high-dimensional inputs and outputs, such as systems measured by video streams, is a challenging problem with numerous applications in robotics, autonomous vehicles and medical imaging. In this paper, we propose a novel non-linear state-space identification method starting from high-dimensional input and output data. Multiple computational and conceptual advances are combined to handle the high-dimensional nature of the data. An encoder function, represented by a neural network, is introduced to learn a reconstructability map to estimate the model states from past inputs and outputs. This encoder function is jointly learned with the dynamics. Furthermore, multiple computational improvements, such as an improved reformulation of multiple shooting and batch optimization, are proposed to keep the computational time under control when dealing with high-dimensional and large datasets. We apply the proposed method to a video stream of a simulated environment of a controllable ball in a unit box. The study shows low simulation error with excellent long term prediction capability of the model obtained using the proposed method.

关键词： Non-linear State-Space Modelling Deep Learning Pixels Multiple Shooting

Navigating a mobile robot using switching distributed sensor networks

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arXiv 2021年

作者： He, Xingkang Hashemi, Ehsan Johansson, Karl H. Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Sweden Department of Mechanical Engineering University of Alberta Canada

—This paper proposes a method to navigate a mobile robot by estimating its state over a number of distributed sensor networks (DSNs) such that it can successively accomplish a sequence of tasks, i.e., its state enters each targeted set and stays inside no less than the desired time, under a resource-aware, time-efficient, and computation- and communication-constrained setting. We propose a new robot state estimation and navigation architecture, which integrates an event-triggered task-switching feedback controller for the robot and a two-time-scale distributed state estimator for each sensor. The architecture has three major advantages over existing approaches: First, in each task only one DSN is active for sensing and estimating the robot state, and for different tasks the robot can switch the active DSN by taking resource saving and system performance into account;Second, the robot only needs to communicate with one active sensor at each time to obtain its state information from the active DSN;Third, no online optimization is required. With the controller, the robot is able to accomplish a task by following a reference trajectory and switch to the next task when an event-triggered condition is fulfilled. With the estimator, each active sensor is able to estimate the robot state. Under proper conditions, we prove that the state estimation error and the trajectory tracking deviation are upper bounded by two time-varying sequences respectively, which play an essential role in the event-triggered condition. Furthermore, we find a sufficient condition for accomplishing a task and provide an upper bound of running time for the task. Numerical simulations of an indoor robot’s localization and navigation are provided to validate the proposed architecture. Copyright © 2021, The Authors. All rights reserved.

关键词： Navigation

Bridge the Present and Future: A Cross-Layer Matching Game in Dynamic Cloud-Aided Mobile Edge Networks

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arXiv 2023年

作者： Qi, Houyi Liwang, Minghui Wang, Xianbin Li, Li Gong, Wei Jin, Jian Jiao, Zhenzhen The School of Informatics Xiamen University Fujian China The Department of Electrical and Computer Engineering Western University ON Canada The Department of Control Science and Engineering Tongji University Shanghai China The Shanghai Research Institute for Intelligent Autonomous Systems Tongji University Shanghai China The Research Institute of Industrial Internet of Things CAICT China The iF-Labs Beijing Teleinfo Technology Co. Ltd. CAICT China

Cloud-aided mobile edge networks (CAMENs) allow edge servers (ESs) to purchase resources from remote cloud servers (CSs), while overcoming resource shortage when handling computation-intensive tasks of mobile users (MUs). Conventional trading mechanisms (e.g., onsite trading) confront many challenges, including decision-making overhead (e.g., latency) and potential trading failures. This paper investigates a series of cross-layer matching mechanisms to achieve stable and cost-effective resource provisioning across different layers (i.e., MUs, ESs, CSs), seamlessly integrated into a novel hybrid paradigm that incorporates futures and spot trading. In futures trading, we explore an overbooking-driven aforehand cross-layer matching (OA-CLM) mechanism, facilitating two future contract types: contract between MUs and ESs, and contract between ESs and CSs, while assessing potential risks under historical statistical analysis. In spot trading, we design two backup plans respond to current network/market conditions: determination on contractual MUs that should switch to local processing from edge/cloud services;and an onsite cross-layer matching (OS-CLM) mechanism that engages participants in real-time practical transactions. We next show that our matching mechanisms theoretically satisfy stability, individual rationality, competitive equilibrium, and weak Pareto optimality. Comprehensive simulations in real-world and numerical network settings confirm the corresponding efficacy, while revealing remarkable improvements in time/energy efficiency and social welfare. Copyright © 2023, The Authors. All rights reserved.

关键词： Decision making

Observer design for interconnected systems with model reduction and unknown inputs

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IFAC-PapersOnLine 2020年第2期53卷 4169-4174页

作者： Tim Steiner Steven Liu Institute of Control Systems Department of Electrical and Computer Engineering University of Kaiserslautern Kaiserslautern Germany

In this paper a combination of distributed parameter systems and lumped parameter systems is investigated, also known as interconnected system. In particular, the heat distribution and the influence of single chips on a base plate is of interest, here in context of insulated-gate bipolar transistors. Only temperature measurements on the base plate are available. A method is presented with which the temperature inside the chip can be estimated. A combination of model reduction and unknown input observer is utilized.

关键词： interconnected systems proper orthogonal decomposition model reduction boundary control method of snapshots unknown input observer

Distributed Coverage Hole Prevention for Visual Environmental Monitoring with Quadcopters via Nonsmooth control Barrier Functions

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arXiv 2022年

作者： Funada, Riku Santos, María Maniwa, Ryuichi Yamauchi, Junya Fujita, Masayuki Sampei, Mitsuji Egerstedt, Magnus The Department of Systems and Control Engineering Tokyo Institute of Technology Tokyo152-8550 Japan The Department of Mechanical and Aerospace Engineering Princeton University PrincetonNJ08544 United States The Department of Information Physics and Computing The University of Tokyo Tokyo113-8656 Japan The Department of Electrical Engineering and Computer Science University of California Irvine IrvineCA92697 United States

This paper proposes a distributed coverage control strategy for quadcopters equipped with downward-facing cameras that prevents the appearance of unmonitored areas in between the quadcopters' fields of view (FOVs). We derive a necessary and sufficient condition for eliminating any unsurveilled area that may arise in between the FOVs among a trio of quadcopters by utilizing a power diagram, i.e. a weighted Voronoi diagram defined by radii of FOVs. Because this condition can be described as logically combined constraints, we leverage nonsmooth control barrier functions (NCBFs) to prevent the appearance of unmonitored areas among a team's FOV. We then investigate the symmetric properties of the proposed NCBFs to develop a distributed algorithm. The proposed algorithm can support the switching of the NCBFs caused by changes of the quadcopters composing trios. The existence of the control input satisfying NCBF conditions is analyzed by employing the characteristics of the power diagram. The proposed framework is synthesized with a coverage control law that maximizes the monitoring quality while reducing overlaps of FOVs. The proposed method is demonstrated in simulation and experiment. Copyright © 2022, The Authors. All rights reserved.

关键词： Sensor networks

Compositional Synthesis of Signal Temporal Logic Tasks via Assume-Guarantee Contracts

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Compositional Synthesis of Signal Temporal Logic Tasks via A...

IEEE Conference on Decision and control

作者： Siyuan Liu Adnane Saoud Pushpak Jagtap Dimos V. Dimarogonas Majid Zamani Department of Electrical and Computer Engineering Technical University of Munich Germany Computer Science Department LMU Munich Germany Laboratoire des Signaux et Systèmes CentraleSupélec Univ. Paris Saclay France Robert Bosch Center for Cyber-Physical Systems in Indian Institute of Science Bangalore India Division of Decision and Control Systems KTH Royal Institute of Technology Stockholm Sweden Computer Science Department University of Colorado Boulder USA

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this paper, we focus on the problem of compositional synthesis of controllers enforcing signal temporal logic (STL) tasks over a class of continuous-time nonlinear interconnected systems. By leveraging the idea of funnel-based control, we show that a fragment of STL specifications can be formulated as assume-guarantee contracts. A new concept of contract satisfaction is then defined to establish our compositionality result, which allows us to guarantee the satisfaction of a global contract by the interconnected system when all subsystems satisfy their local contracts. Based on this compositional framework, we then design closed-form continuous-time feedback controllers to enforce local contracts over subsystems in a decentralized manner. Finally, we demonstrate the effectiveness of our results on a numerical example.

关键词： Interconnected systems Task analysis Adaptive control Contracts

Fractional cyber-neural systems - a brief survey

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arXiv 2021年

作者： Reed, Emily Chatterjee, Sarthak Ramos, Guilherme Bogdan, Paul Pequito, Sérgio Ming Hsieh Department of Electrical and Computer Engineering University of Southern California Los AngelesCA United States Department of Electrical Computer and Systems Engineering Rensselaer Polytechnic Institute TroyNY United States Department of Electrical and Computer Engineering Faculty of Engineering University of Porto Portugal Delft Center for Systems and Control Delft University of Technology Delft Netherlands

Neurotechnology has made great strides in the last 20 years. However, we still have a long way to go to commercialize many of these technologies as we lack a unified framework to study cyber-neural systems (CNS) that bring the hardware, software, and the neural system together. Dynamical systems play a key role in developing these technologies as they capture different aspects of the brain and provide insight into their function. Converging evidence suggests that fractional-order dynamical systems are advantageous in modeling neural systems because of their compact representation and accuracy in capturing the long-range memory exhibited in neural behavior. In this brief survey, we provide an overview of fractional CNS that entails fractional-order systems in the context of CNS. In particular, we introduce basic definitions required for the analysis and synthesis of fractional CNS, encompassing system identification, state estimation, and closed-loop control. Additionally, we provide an illustration of some applications in the context of CNS and draw some possible future research directions. Ultimately, advancements in these three areas will be critical in developing the next generation of CNS, which will, ultimately, improve people’s quality of life. Copyright © 2021, The Authors. All rights reserved.

关键词： Surveys