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51st IEEE Conference on Decision and Control, CDC 2012

作者： Owens, David H. Freeman, Chris T. Dinh, Thanh Van Department of Automatic Control and Systems Engineering University of Sheffield Mappin Street Sheffield S1 3JD United Kingdom School of Electronics and Computer Science University of Southampton Highfield SO17 1BJ United Kingdom Advanced Robotics Division Italian Institute of Technology Genoa Italy

A Norm-Optimal Iterative Learning Control (NOILC) solution is developed for the problem when tracking is only required at a subset of isolated time points along the trial duration. Well-defined convergence properties are presented, along with design guidelines and supporting experimental results using an electromechanical test facility. © 2012 IEEE.

关键词： Learning algorithms

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Development of Prosthesis Grasp Control systems on a Robotic Testbed

Development of Prosthesis Grasp Control Systems on a Robotic...

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IEEE RAS & EMBS International Conference on Biomedical robotics and Biomechatronics

作者： Bart Peerdeman Ugo Fabrizi Gianluca Palli Claudio Melchiorri Stefano Stramigioli Sarthak Misra MIRA - Institute for Biomedical Technology and Technical Medicine (Control Engineering Group) University of Twente LAR DEIS - Laboratory of Automation and Robotics Department of Electronics Computer Science and Systems University of Bologna

ISBN: (纸本)9781457711992

Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.

关键词： Grasp control systems Prosthetic hand Prosthesis robotic hand

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Towards improving mission execution for autonomous gliders with an ocean model and kalman filter

Towards improving mission execution for autonomous gliders w...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Ryan N. Smith Jonathan Kelly Gaurav S. Sukhatme School of Engineering Systems Queensland University of Technology Brisbane QLD Australia Robust Robotics Group Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology Cambridge MA USA Robotic Embedded Systems Laboratory Department of Computer Science University of Southern California Los Angeles CA USA

Effective execution of a planned path by an underwater vehicle is important for proper analysis of the gathered science data, as well as to ensure the safety of the vehicle during the mission. Here, we propose the use of an unscented Kalman filter to aid in determining how the planned mission is executed. Given a set of waypoints that define a planned path and a dicretization of the ocean currents from a regional ocean model, we present an approach to determine the time interval at which the glider should surface to maintain a prescribed tracking error, while also limiting its time on the ocean surface. We assume practical mission parameters provided from previous field trials for the problem set up, and provide the simulated results of the Kalman filter mission planning approach. The results are initially compared to data from prior field experiments in which an autonomous glider executed the same path without pre-planning. Then, the results are validated through field trials with multiple autonomous gliders implementing different surfacing intervals simultaneously while following the same path.

关键词： Navigation Vehicles Sea surface Trajectory Kalman filters Uncertainty

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A novel swarm intelligence algorithm and its application in solving wireless sensor networks coverage problems

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Journal of Networks 2012年第12期7卷 2037-2043页

作者： Mo, Yuanbin Liu, Jizhong Wang, Baolei Jonathan Wu, Q.M. College of Mathematics and Computer Science Guangxi University for Nationalities Nanning 530006 China School of Mechanical and Electrical Engineering Institute of Robotics of Nanchang University Nanchang University Nanchang 330031 China Department of Electrical and Computer Engineering Computer Vision and Sensing Systems Laboratory University of Windsor Windsor N9B3P4 Canada

Wireless sensor networks (WSNs) have attracted a great deal of research due to their wide-range of potential applications. Sensor deployment and coverage problems are their important issues. This article briefly introduces the principle of swarm intelligence (SI). A novel SI algorithm based on information sharing of Particle Swarm Optimization (PSO) and diversity maintenance mechanism of Artificial Immune System (AIS) is designed and the model of coverage problems is given. Its applications in solving different deterministic and random coverage problems are given. The algorithm used in obtaining maximum coverage probability with given number of sensor nodes and minimum number of sensor nodes with required coverage probability of WSNs deterministic coverage, and determining the selected sensor nodes with coverage probability and connectivity requirement of WSNs random coverage, are analyzed in detail. The simulation results show the algorithm is practical. The applications of SI on K- coverage and connectivity problems in the future are also projected in the article. © 2012 ACADEMY PUBLISHER.

关键词： Swarm intelligence

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A landmark-based controller for global asymptotic stabilization on SE(3)

A landmark-based controller for global asymptotic stabilizat...

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IEEE Conference on Decision and Control

作者： Pedro Casau Ricardo G. Sanfelice Rita Cunha Carlos Silvestre Department of Electrical Engineering and Computer Science and Institute for Robotics and Systems in Engineering and Science (LARSyS) Instituto Superior Técnico Universidade Técnica de Lisboa Lisboa Portugal Department of AeroSpace and Mechanical Engineering University of Arizona AZ USA Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macao China

In this paper, we address the problem of designing a landmark-based control law that robustly globally asymptotically stabilizes a rigid body at a desired equilibrium point on the SE(3) manifold. Synergistic potential functions are combined within a hybrid systems framework to generate such a hybrid control law. The proposed control law is solely a function of vector measurements characterizing the position of some given landmarks. We provide sufficient conditions on the geometry of the landmarks to solve the given problem. Finally, the proposed solution is simulated and compared with an almost global continuous feedback control law.

关键词： Vectors Eigenvalues and eigenfunctions Noise Robustness Feedback control Manifolds Geometry

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Landmark-Tree map: A biologically inspired topological map for long-distance robot navigation

Landmark-Tree map: A biologically inspired topological map f...

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IEEE International Conference on robotics and Biomimetics

作者： Marcus Augustine Frank Ortmeier Elmar Mair Darius Burschka Annett Stelzer Michael Suppa Otto-von-Guericke University Workgroup Computer Systems in Engineering Magdeburg Germany Department of Computer Science Technische Universität München (TUM) Garching bei München Germany German Aerospace Center (DLR) Institute of Robotics & Mechatronics Wessling Germany

Metric maps provide a reliable basis for mobile robot navigation. However, such maps are in general quite resource expensive and do not scale very well. Aiming for a highly scalable map, we adopt theories of insect navigation to develop an algorithm which builds a topological map for global navigation. Similar to insect conduct, positions in space are memorized as snapshots, which are unique configurations of landmarks. Unlike conventional snapshot approaches, we do not simply store the landmarks as a set, but we build a landmark tree which enables us to easily free memory in case of a continuously growing map while still preserving the dominant information. The resulting navigation is not sensor specific and solely relies on the directions of arbitrary landmarks. The generated map enables a mobile robot to navigate between defined locations and let it retrace a previously pursued path. Finally, we verify the reliability of the Landmark-Tree Map (LT-Map) concept and its robustness on memory limitations.

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On buffering with stochastic guarantees in resource-constrained media players 11

On buffering with stochastic guarantees in resource-constrai...

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Embedded systems Week 2011, ESWEEK 2011 - 9th IEEE/ACM International Conference on Hardware/Software-Codesign and System Synthesis, CODES+ISSS'11

作者： Raman, Balaji Quintin, Guillaume Ooi, Wei Tsang Gangadharan, Deepak Milan, Jerome Chakraborty, Samarjit École Polytechnique Palaiseau France Department of Computer Science National University of Singapore Singapore Institute for Real-Time Computer Systems TU Munich Germany

ISBN: (纸本)9781450307154

Playout delay or buffering are commonly used in the case of streaming multimedia to ensure smooth playout. A large delay, however, is required for promising a high quality in display. Such significant delays consume huge on-chip memory. We show that when the constraints on output are slightly relaxed, the playout delay needed can be reduced to a negligible value with no perceivable loss in video quality. We propose a mathematical framework that precisely estimates that minimal playout delay value. Perhaps more importantly, unlike existing analytical models, our framework allows to specify loss and provides guarantees that the desired display quality is achieved with the chosen delay. We present simulation results to validate the minimum delay value obtained from the analytical framework. Using the reduced delay value enormously saves the on-chip memory requirement. Copyright 2011 ACM.

关键词： Multimedia systems

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Scheduling measurements and controls over networks — Part II: Rollout strategies for simultaneous protocol and controller design

Scheduling measurements and controls over networks — Part I...

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American Control Conference (ACC)

作者： D. J. Antunes W. P. M. H. Heemels J. P. Hespanha C. J. Silvestre Hybrid and Networked Systems Group Department of Mechanical Engineering Eindhovan University of Technology Netherlands Department of Electrical and Computer Engineering University of California Santa Barbara CA USA Institute for Systems and Robotics Instituto Superior Técnico Lisboa Portugal Faculty of Science and Technology University of Macau Taipa Macao China

ISBN: (纸本)9781457710957

We consider a networked control system where a plant is connected to a remote controller via a shared network that allows only one user to transmit at a given time. At each transmission time, the controller decides between sampling one of the plant's sensors or transmitting control data to the plant. We tackle the problem of simultaneously designing a policy for scheduling decisions and a policy for control inputs so as to optimize a quadratic objective. Using the framework of dynamic programming, we propose a rollout strategy by which the scheduling and control decisions are determined at each transmission time as the ones that lead to optimal performance over a given horizon assuming that from then on controller and sensors transmit in a periodic order and the control law is a standard optimal law for periodic systems. We show that this rollout strategy results in a protocol where scheduling decisions are based on the state estimate and error covariance matrix of a Kalman estimator, and must be determined on-line. We contrast the solution to this problem with the solution to the seemingly similar sensor scheduling problem where optimal scheduling decisions can be determined off-line. We highlight how the protocol obtained from the rollout algorithm can be implemented in a distributed way in broadcast networks. Moreover, it follows by construction of rollout algorithms that our proposed scheduling method can outperform any periodic scheduling of transmissions.

关键词： Sensors Protocols Scheduling Optimal scheduling Covariance matrix Processor scheduling Networked control systems

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Prosthesis-User-in-the-Loop: A User-Specific Biomechanical Modeling and Simulation Environment

Prosthesis-User-in-the-Loop: A User-Specific Biomechanical M...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： J. Wojtusch P. Beckerle O. Christ K. Wolff O. von Stryk S. Rinderknecht J. Vogt Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universit?t Darmstadt 64289 Darmstadt Germany Department of Mechanical Engineering Institute of Mechatronic Systems in Mechanical Engineering Technische Universit?t Darmstadt 64287 Darmstadt Germany Department of Human Science Work and Engineering Psychology Research Group Technische Universit?t Darmstadt 64283 Darmstadt Germany

ISBN: (纸本)9781424441198

In this paper, a novel biomechanical modeling and simulation environment with an emphasis on user-specific customization is presented. A modular modeling approach for multi-body systems allows a flexible extension by specific biomechanical modeling elements and enables an efficient application in dynamic simulation and optimization problems. A functional distribution of model description and model parameter data in combination with standardized interfaces enables a simple and reliable replacement or modification of specific functional components. The user-specific customization comprises the identification of anthropometric model parameters as well as the generation of a virtual three-dimensional character. The modeling and simulation environment is associated with Prosthesis-User-in-the-Loop, a hardware simulator concept for the design and optimization of lower limb prosthetic devices based on user experience and assessment. For a demonstration of the flexibility and capability of the modeling and simulation environment, an exemplary application in context of the hardware simulator is given.

关键词： novel biomechanical simulation environment customization comprises

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Prosthesis-User-in-the-Loop: User-Centered Design Parameters and Visual Simulation

Prosthesis-User-in-the-Loop: User-Centered Design Parameters...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society

作者： O. Christ J. Wojtusch P. Beckerle K. Wolff J. Vogt O. von Stryk S. Rinderknecht Department of Human Science Work and Engineering Psychology Research Group Technische Universit?t Darmstadt 64283 Darmstadt Germany Department of Computer Science Simulation Systems Optimization and Robotics Group Technische Universit?t Darmstadt 64289 Darmstadt Germany Department of Mechanical Engineering Institute for Mechatronic Systems in Mechanical Engineering Technische Universit?t Darmstadt 64287 Darmstadt Germany

ISBN: (纸本)9781424441198

After an amputation, processes of change in the body image as well as a change in body scheme have direct influences on the quality of living in every patient. Within this paper, a paradigm of experimental induced body illusion (the Rubber Hand Illusion, RHI) is integrated in a prosthetic hardware simulator concept. This concept combines biodynamical and visual feedback to enhance the quality of rehabilitation and to integrate patients' needs into the development of prostheses aiming on user-centered solutions. Therefore, user-centered design parameters are deducted. Furthermore, the basic concept of the visual simulation is presented and a possibility for its implementation is given. Finally, issues and conclusions for future work are described.

关键词： amputation processes conclusions

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