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Annual International Conference of the IEEE engineering in Medicine and Biology Society (EMBC)

作者： Lukasz Tyszczuk Smith Liat Levita Francesco Amico Jennifer Fagan John H. Yek Justin Brophy Haihong Zhang Mahnaz Arvaneh Department of Automatic Control and Systems Engineering The University of Sheffield UK Department of Psychology The University of Sheffield UK Newcastle Hospital Co. Wicklow Ireland Institute for Infocomm Research Singapore

ISBN: (数字)9781728119908

ISBN: (纸本)9781728119915

Depression is the leading cause of disability worldwide, yet rates of missed- and mis-diagnoses are alarmingly high. The introduction of objective biomarkers, to aid diagnosis, informed by depression's physiological pathology may alleviate some of the burden on strained mental health services. Three minutes of eyes-closed resting state heart rate and skin conductance response (SCR) data were acquired from 27 participants (16 healthy controls, 11 with major depressive disorder (MDD)). Various classifiers were trained on state-of-the-art and novel features. We are aware of no previous studies analysing the utility of multimodal vs. individual modalities for classification. We found no improvement using multimodal classifiers over using heart rate variability (HRV) alone, which achieved 81% test accuracy. The best multimodal and SCR only classifiers were only slightly less accurate at 78%. Despite not improving depression detection, SCR features did show stronger correlation with suicidal ideation than HRV. SD1/SD2 2 is a novel HRV feature proposed in this paper, similar to the commonly used ratio SD1/SD2 but with more marked separation between classes, having the largest Rank Biserial Correlation of all examined features (p-value = 0.002, RBC = -0.73). We recommend further studies in this area.

关键词： Heart rate variability Correlation Skin Standards Rail to rail inputs Feature extraction

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A secure state estimation algorithm for nonlinear systems under sensor attacks

arXiv

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arXiv 2020年

作者： Chong, Michelle S. Sandberg, Henrik Hespanha, João P. Control Systems Technology section Department of Mechanical Engineering Eindhoven University of Technology Netherlands Division of Decision and Control Systems KTH Royal Institute of Techonology Sweden Electrical and Computer Engineering Department University of California Santa Barbara United States

The state estimation of continuous-time nonlinear systems in which a subset of sensor outputs can be maliciously controlled through injecting a potentially unbounded additive signal is considered in this paper. Analogous to our earlier work for continuous-time linear systems in [1], we term the convergence of the estimates to the true states in the presence of sensor attacks as ‘observability under M attacks’, where M refers to the number of sensors which the attacker has access to. Unlike the linear case, we only provide a sufficient condition such that a nonlinear system is observable under M attacks. The condition requires the existence of asymptotic observers which are robust with respect to the attack signals in an input-to-state stable sense. We show that an algorithm to choose a compatible state estimate from the state estimates generated by the bank of observers achieves asymptotic state reconstruction. We also provide a constructive method for a class of nonlinear systems to design state observers which have the desirable robustness property. The relevance of this study is illustrated on monitoring the safe operation of a power distribution network. Copyright © 2020, The Authors. All rights reserved.

关键词： State estimation

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Dynamic Hard Shoulder Running Lane control

Dynamic Hard Shoulder Running Lane Control

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International Conference on control, Decision and Information Technologies (CoDIT)

作者： Rodrigo Castelan Carlson Eduardo Rosa de Lima Eduardo Rauh Müller Felipe Augusto de Souza Konstantinos Ampountolas Department of Automation and Systems Federal University of Santa Catarina Florianópolis Brazil Energy Systems Argonne National Laboratory Lemont IL USA Department of Mechanical Engineering Automatic Control & Autonomous Systems Laboratory University of Thessaly Volos Greece

ISBN: (数字)9798350373974

ISBN: (纸本)9798350373981

This work presents a novel and practical real-time switching control policy for the dynamic hard shoulder running lane control on motorways. Using the hard shoulder as a running lane in peak traffic periods increases the motorway capacity at bottlenecks, increasing throughput and avoiding the onset of congestion. The proposed policy enables a smooth switching on of the hard shoulder lane at peak periods. It is based on properties of the fundamental diagram of motorway traffic with easy and unambiguous interpretation and implementation by traffic operators. Simulation analysis on a 5 km-long motorway stretch with three lanes and one hard shoulder lane using the AIMSUN microscopic simulator is demonstrated. The results have showed that the proposed switching control improves the motorway throughput compared to rival control schemes.

关键词： State feedback Sensitivity System performance Roads Switches control systems Throughput Real-time systems Safety Vehicle dynamics

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Probabilistic Optimal Power Flow Computation for Power Grid Including Correlated Wind Sources

SSRN

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SSRN 2024年

作者： Xiao, Qing Tan, Zhuangxi Du, Min School of Information and Electrical Engineering Hunan University of Science and Technology Hunan Province Xiangtan China Department of Automatic Control and Systems Engineering University of Sheffield South Yorkshire Sheffield United Kingdom

This paper sets out to develop an efficient probabilistic optimal power flow (POPF) algorithm to assess the influence of wind power on power grid. Given a set of wind data at multiple sites, the marginal distribution is fitted by a newly developed generalized Johnson system, the dependence structure of wind speeds is matched by the flexible Liouville copula. In order to lower the computational burden for solving POPF model, a Lattice sampling technique is developed to generate wind samples at multiple sites, and a Logistic mixture model is proposed to fit distributions of POPF outputs, which can quantify the effect of wind speed uncertainty on power grid. Finally, the proposed methods are illustrated by case studies on the IEEE 118-bus system. © 2024, The Authors. All rights reserved.

关键词： Electric load flow

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Adaptively Constrained Stochastic Model Predictive control for Closed-Loop Constraint Satisfaction

Adaptively Constrained Stochastic Model Predictive Control f...

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American control Conference

作者： Frauke Oldewurtel David Sturzenegger Peyman Mohajerin Esfahani Goran Andersson Manfred Morari John Lygeros Power Systems Laboratory Department of Electrical Engineering Swiss Federal Institute of Technology in Zurich (ETHZ) Switzerland Automatic Control Laboratory Department of Electrical Engineering Swiss Federal Institute of Technology in Zurich (ETHZ) Switzerland

ISBN: (纸本)9781479901777

Stochastic Model Predictive control (SMPC) for discrete-time linear systems subject to additive disturbances with chance constraints on the states and hard constraints on the inputs is considered. Current chance constrained MPC methods--based on analytic reformulations or on sampling approaches--tend to be conservative partly because they fail to exploit the predefined violation level in closed-loop. For many practical applications, this conservatism can lead to a loss in performance. We propose an adaptive SMPC scheme that starts with a standard conservative chance constrained formulation and then on-line adapts the formulation of constraints based on the experienced violation frequency. Using martingale theory we establish guarantees of convergence to the desired level of constraint violation in closed-loop for a special class of linear systems. Comments are given on how to extend this to a broader class of (non-)linear systems. The developed methodology is demonstrated with an illustrative example.

关键词： Stochastic model predictive control Chance constraints Adaptive control Closed-loop violation

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Dynamic Analyses of Underactuated Virtual Passive Dynamic Walking

Dynamic Analyses of Underactuated Virtual Passive Dynamic Wa...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Fumihiko Asano Zhi-Wei Luo RIKEN Bio-Mimetic Control Research Center Nagoya Japan Department of Computer and Systems Engineering Faculty of Engineering Kobe University Kobe Japan

Realization of an energy-efficient and high-speed dynamic walking has come to be one of the main subjects in the research area of robotic biped locomotion, and passive dynamic walking has been widely attracted as a clue to solve the problem. It has been empirically known that the effect of convex curve shape of foot, which characterizes passive-dynamic walkers, is important to increase walking speed. This paper then investigates the driving mechanism of compasslike biped robots and the rolling effect of semicircular feet are mainly investigated. We first analyze the mechanism of a planar fully-actuated compass-like biped model to clarify the importance of ankle-joint torque introducing generalized virtual gravity concept. In the second, a planar underactuated biped model with semicircular feet is introduced and we show that virtual passive dynamic walking by hip-joint torque only can be realized based on the rolling effect. We then compare with a flat feet model through linear approximation, and show that the rolling effect is equivalent to its virtual ankle-joint torque. Throughout this paper, we provide novel insights into how ZMP-free robots can generate a dynamic bipedal gait.

关键词： Legged locomotion Torque Energy efficiency Gravity Robot control Robotics and automation Shape Foot Acceleration Mathematical model

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Feedback Stabilization and motion synchronization of systems with time-delay in the communication network

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IFAC Proceedings Volumes 2010年第2期43卷 283-288页

作者： Warody Lombardi Anamaria Luca Sorin Olaru Silviu-Iulian Niculescu Joono Cheong SUPELEC Systems Sciences (E3S) - Automatic Control Department 3 rue Joliot Curie 91192 Gif-sur-Yvette France Laboratory of Signals and Systems SUPELEC-CNRS 3 rue Joliot Curie 91192 Gif-sur-Yvette France Department of Control and Instrumentation Engineering Korea University Jochiwon 339-700 Korea

This paper is dedicated to the stabilization problem of dynamical systems in the presence of variable time-delay in the communication channel which is handled at the discretization stage by means of a guaranteed uncertainty approximation technique. In this context, the proposed stabilization methodology will be based on a Lyapunov-Krasovskii candidate leading finally to Linear Matrix Inequalities formulations for the controller synthesis. The motion synchronization control of two interconnected subsystems linked by a network is considered a possible application of these techniques.

关键词： Time-delay systems Motion Synchronization

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A Real-time Hand Gesture Recognition System for Human-computer and Human-Robot Interaction

A Real-time Hand Gesture Recognition System for Human-Comput...

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2022 International Conference of Yearly Reports on Informatics, Mathematics, and engineering, ICYRIME 2022

作者： Ponzi, Valerio Iacobelli, Emanuele Napoli, Christian Starczewski, Janusz Department of Computer Control and Management Engineering Sapienza University of Rome Via Ariosto 25 Roma00185 Italy Institute for Systems Analysis and Computer Science Italian National Research Council Via dei Taurini 19 Roma00185 Italy Department of Computational Intelligence Czestochowa University of Technology al. Armii Krajowej 36 Czestochowa42-200 Poland

The proposed hand gesture recognition (HGR) system is designed to enhance human-computer interaction (HCI) and human-robot interaction (HRI), which are crucial areas of research aimed at improving the way humans interact with computer or robot systems. With the growing need for intelligent computers and robots in a range of applications, including healthcare, manufacturing, and education, both HCI and HRI have gained significant importance. In this context, the HGR system plays a vital role by enabling natural and intuitive communication between humans and technology through hand gestures. The presented system uses a single camera and efficient image processing techniques that enable real-time gesture detection. Unlike other methods, our approach employs a basic video camera, which is widely available on most computers, eliminating the need for expensive and specialized hardware. © 2022 Copyright for this paper by its authors.

关键词： Human robot interaction

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Sublevel Set Approximation in The Hausdorff and Volume Metric with Application to Path Planning and Obstacle Avoidance

arXiv

引用

arXiv 2023年

作者： Jones, Morgan The Department of Automatic Control and Systems Engineering The University of Sheffield Amy Johnson Building Mappin Street SheffieldS1 3JD United Kingdom

Under what circumstances does the "closeness" of two functions imply the "closeness" of their respective sublevel sets? In this paper, we answer this question by showing that if a sequence of functions converges strictly from above/below to a function, V, in the L∞ (or L1) norm then these functions yield a sequence sublevel sets that converge to the sublevel set of V with respect to the Hausdorff metric (or volume metric). Based on these theoretical results we propose Sum-of-Squares (SOS) numerical schemes for the optimal outer/inner polynomial sublevel set approximation of various sets, including intersections and unions of semialgebraic sets, Minkowski sums, Pontryagin differences and discrete points. We present several numerical examples demonstrating the usefulness of our proposed algorithm including approximating sets of discrete points to solve machine learning one-class classification problems and approximating Minkowski sums to construct C-spaces for computing optimal collision-free paths for Dubin’s car. Copyright © 2023, The Authors. All rights reserved.

关键词： Motion planning

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Learning basis skills by autonomous segmentation of humanoid motion trajectories

Learning basis skills by autonomous segmentation of humanoid...

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IEEE-RAS International Conference on Humanoid Robots

作者： Sang Hyoung Lee Il Hong Suh Sylvain Calinon Rolf Johansson Department of Electronics and Computer Engineering Hanyang University Seoul Korea Department of Computer Science and Engineering Hanyang University Seoul Korea Department of Advanced Robotics Istituto Italiano di Tecnologia (IIT) Genova Italy Department of Automatic Control Lund University Lund Sweden

Manipulation tasks are characterized by continuous motion trajectories containing a set of key phases. In this paper, we propose a probabilistic method to autonomously segment the motion trajectories for estimating the key phases embedded in such a task. The autonomous segmentation process relies on principal component analysis to adaptively project into one of the low-dimensional subspaces, in which a Gaussian mixture model is learned based on Bayesian information criterion and expectation-maximization algorithms. The basis skills are estimated by a set of Gaussians approximating quasi-linear key phases, and those times spent calculated from the segmentation points between two consecutive Gaussians representing the local changes of dynamics and directions of the trajectories. The basis skills are then used to build novel motion trajectories with possible motion alternatives and optional parts. After sequentially reorganizing the basis skills, a Gaussian mixture regression process is used to retrieve smooth motion trajectories. Two experiments are presented to demonstrate the capability of the autonomous segmentation approach.

关键词： Trajectory Motion segmentation Principal component analysis Joints Humanoid robots Hidden Markov models

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