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arXiv 2021年

作者： Suomalainen, Markku Karayiannidis, Yiannis Kyrki, Ville Center of Ubiquitous Computing Faculty of Information Technology and Electrical Engineering University of Oulu Finland Systems and Control Department of Electrical Engineering Chalmers University of Technology Gothenburg Sweden Intelligent Robotics research group Department of Electrical Engineering and Automation School of Electrical Engineering Aalto University Helsinki Finland

In this survey, we present the current status on robots performing manipulation tasks that require varying contact with the environment, such that the robot must either implicitly or explicitly control the contact force with the environment to complete the task. Robots can perform more and more manipulation tasks that are still done by humans, and there is a growing number of publications on the topics of 1) performing tasks that always require contact and 2) mitigating uncertainty by leveraging the environment in tasks that, under perfect information, could be performed without contact. The recent trends have seen robots perform tasks earlier left for humans, such as massage, and in the classical tasks, such as peg-in-hole, there is a more efficient generalization to other similar tasks, better error tolerance, and faster planning or learning of the tasks. Thus, in this survey we cover the current stage of robots performing such tasks, starting from surveying all the different in-contact tasks robots can perform, observing how these tasks are controlled and represented, and finally presenting the learning and planning of the skills required to complete these tasks. © 2021, CC BY.

关键词： Surveys

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Comparison of Gated Recurrent Unit vs. Mixture Density Network in Insulin Sensitivity Prediction

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IFAC-PapersOnLine 2022年第15期55卷 180-185页

作者： Bálint Szabó Ákos Szlávecz Béla Paláncz Geoffrey Chase Balázs Benyó Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Műegyetem rkp. 3. H-1111 Budapest Hungary Department of Geodesy and Surveying Faculty of Civil Engineering Budapest University of Technology and Economics Műegyetem rkp. 3. H-1111 Budapest Hungary Center of Bioengineering University of Canterbury Christchurch New Zealand

There are several methods for the prediction of future values of a time series, or in general, for the probability density prediction problem. In this paper two neural network prediction models are compared: Mixture Density Network (MDN) and Gated Recurrent Unit (GRU) in the prediction of the insulin sensitivity (SI) of a patient under intensive care. The basic difference between the two methods is that while MDN is a stateless network model the GRU is a stateful model. In the study, both of the models predict the probability density function of the future SI value, but the MDN considers the physiological process like a Markov-chain: the future SI value depends lowly on the previous value. In contrast, the GRU model attempts to model the longer-term dependencies between subsequent SI values in its internal states and improve the prediction accuracy based on the information derived from the previous SI values. In the study we have found that the GRU implemented stateful prediction improved the prediction accuracy by 10 percent, showing the prediction power of the GRU model in physiological problems and proving the existence of longer-term dependencies in the SI time series. These outcomes confirm previously published results showing that the insulin sensitivity prediction can be improved considering the longer-term history of the patients.

关键词： Insulin sensitivity Time series prediction Machine learning Neural networks Gated Recurrent Unit Mixture Density Network Gaussian distributions Process control

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Edge Dislocations and Their Effects on the Corrosion Evolution of Iron Based Materials in Liquid Lead Bismuth Eutectic: A Molecular Dynamics Study

SSRN

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SSRN 2023年

作者： Chen, Liming Liu, Sijie Wang, Li Gan, Shuyun Wen, Chunmei Li, Jiaqi Wu, Zhongzheng He, Xiaoxun Xu, Shuai Deng, Zhiyong Krsjak, Vladimir Daghbouj, Nabil Cao, Qilong Li, Bingsheng Faculty of Science Yibin University Yibin644000 China State Key Laboratory for Environment-Friendly Energy Materials Southwest University of Science and Technology Sichuan Mianyang621010 China Science and Technology on Reactor Fuel and Materials Laboratory Nuclear Power Institute of China Chengdu610041 China Slovak University of Technology Faculty of Electrical Engineering and Information Technology Institute of Nuclear and Physical Engineering Ilkovicova 3 Bratislava81219 Slovakia Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Technická 2 Prague 6160 00 Czech Republic

The study investigated the effect of liquid lead bismuth eutectic (LBE) on the corrosion evolution of iron based materials with varying densities of edge dislocation defects. Molecular dynamics simulations were conducted at temperatures ranging from 823 K to 1173 K, and the process of penetration of Pb and Bi atoms at the dislocation core was analyzed. The results indicated that Fe atoms near the dislocation core have the lowest substitution energy 4.79 eV/atom), making them more likely to be replaced by Pb and Bi atoms. Moreover, it was found that the increase in dislocation density did not result in a higher penetration depth of LBE atoms, attributed to the interaction of dislocations. These findings provide crucial insights into the LBE corrosion mechanism in iron based materials with dislocation defects. © 2023, The Authors. All rights reserved.

关键词： Molecular dynamics

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Feasibility of Utilizing Passive BCI for Assistance Evaluation: A Case Study on a Knee Exoskeleton

Feasibility of Utilizing Passive BCI for Assistance Evaluati...

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IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)

作者： Asghar Mahmoudi Morteza Khosrotabar Jannis Kuhmann Martin Grimmer Stephan Rinderknecht Maziar A. Sharbafi Faculty of Mechanical Engineering Institute for Mechatronic Systems Technical University Darmstadt Germany Lauflabor Locomotion Lab. Institute of Sports Science Technical Uni-versity Darmstadt Darmstadt Germany Department of Electrical En-gineering and Information Technology Control and Cyber-Physical Systems Technical University Darmstadt Darmstadt Germany

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

This study explored the feasibility of incorpo-rating a passive Brain-Computer Interface (BCI) into the individualization process of wearable assistive devices, with a specific focus on lower-limb exoskeletons. These devices can greatly improve mobility and quality of life for those with lower limb impairments. However, their optimal performance relies on personalized adjustments. This study offered a unique approach to user feedback without intentional control. A one-degree-of-freedom knee exoskeleton was utilized, introducing different levels of impedance to create distinct assistance levels. The analysis identified specific brain clusters, notably the right premotor and supplementary motor cortex, exhibiting significant differences in activity between the easiest and the most challenging conditions. This critical proof-of-concept step demonstrated that through decoding the user's brain activity, passive BCI could support the individualization of assistive technology. This approach indicated the potential to enhance the performance and user experience of wearable assistive devices.

关键词： Performance evaluation Brain Exoskeletons Motors User experience Brain-computer interfaces Decoding Assistive devices Impedance Robots

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The Effects of Edge Dislocaitons on the Corrosion Behavior of Pure Iron in Liquid Lead-Bismuth Eutectic: A Molecular Dynamics Study

SSRN

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SSRN 2023年

The study investigated the effect of liquid lead-bismuth eutectic (LBE) on the corrosion evolution of iron-based materials with varying densities of edge dislocation defects. Molecular dynamics simulations were conducted at temperatures ranging from 823 K to 1173 K, and the process of penetration of Pb and Bi atoms at the dislocation core was analyzed. The results indicated that Fe atoms near the dislocation core have the lowest substitution energy (-4.79 eV/atom), making them more likely to be replaced by Pb and Bi atoms. Moreover, it was found that the increase in dislocation density did not result in a higher penetration depth of LBE atoms, attributed to the interaction of dislocations. These findings provide crucial insights into the LBE corrosion mechanism in iron-based materials with dislocation defects. © 2023, The Authors. All rights reserved.

关键词： Molecular dynamics

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Data Identification Optimal control for Quantized Linear Systems under DoS Attacks

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IEEE Transactions on Aerospace and Electronic Systems 2025年

作者： Wang, Xianming Li, Liwei Shen, Mouquan Zhao, Xudong Wang, Qing-Guo Zhu, Zheng Hong Nanjing Tech University School of Mechanical and Power Engineering Nanjing211816 China Nanjing Tech University College of Electrical Engineering and Control Science Nanjing211816 China Dalian University of Technology Faculty of Electronic Information and Electrical Engineering Dalian116024 China Beijing Normal University Institute of Ai and Future Networks Zhuhai519087 China BNU-HKBU United International College Guangdong Provincial Key Laboratory Irads Department of Computer Science Zhuhai519087 China York University Department of Mechanical Engineering TorontoONM3J 1P3 Canada

This paper is devoted to data identification optimal control for quantized linear systems under denial of service (DoS) attacks. A least-squares algorithm is provided to identify the unknown system matrices using a data-based representation. An output estimation algorithm utilizing identified matrices is supplied to offset DoS attacks. Consequently, an optimal controller is built on the quantized and attacked data by adaptive dynamic programming. Sufficient conditions are presented to guarantee that the resultant closed-loop system is ultimately uniformly bounded. An example is produced to verify the validity of the proposed approach. © 1965-2011 IEEE.

关键词： Optimal control systems

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Platoon Keeping and Collision Avoidance Based on Distributed Model Predictive control Under Arbitrary Communication Chain Malfunction

Platoon Keeping and Collision Avoidance Based on Distributed...

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Chinese automation Congress (CAC)

作者： Nan Chen Yutao Chen Dingci Lin Jie Huang College of Electrical Engineering and Automation Fuzhou University Fuzhou China 5G+Industrial Internet Institute Fuzhou University Fuzhou China Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou China

In this paper, a platoon keeping and collision avoidance method based on distributed model predictive control(DMPC) is proposed to solve the problem of arbitrary communication chain malfunctions under a bidirectional-leader topology. Firstly, for the platoon under normal communication, a DMPC controller is designed by using the trajectory information of the leader and predecessor vehicle, which also satisfies the situation when communication chain between the follower (except follower 1) and the leader malfunction. Secondly, for other communication chain malfunction situation, we proposed the corresponding communication topology transformation scheme and controller transformation scheme, which makes the proposed control scheme can adapt to arbitrary communication chain malfunction situation. Finally, as for the control strategy proposed in this paper, some simulation experiments are carried out.

关键词： Adaptation models automation Predictive models Topology Trajectory Collision avoidance Predictive control

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Open access resources to support the first course in feedback, dynamics and control

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IFAC-PapersOnLine 2022年第17期55卷 1-6页

作者： A. Serbezov K. Zakova A. Visioli J.A. Rossiter B. Douglas J. Hedengren Department of Chemical Engineering Rose-Hulman Institute of Technology Terre Haute IN USA Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Slovakia Department of Mechanical and Industrial Engineering University of Brescia Italy Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD UK Engineering Media LLC Kirkland WA 98034 USA Department of Chemical Engineering Brigham Young University Provo UT 84602 USA

The Technical Committees for control Education of IFAC and IEEE have started a collaborative initiative to collect, curate, and disseminate high quality freely available resources that support instruction of the first control course for undergraduate students in engineering and applied sciences programs. An initial survey with limited distribution provided 64 resources that cover all topics in a typical introductory control curriculum. This paper gives an initial glimpse of the resources collected thus far. It also suggests possible ways for categorization and dissemination.

关键词： engineering education Automatic control curriculum E-learning in control engineering Open access resources in automatic control Automatic control virtual learning environments

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A Dynamic Safe Arbitrator for Human-Machine Shared control

A Dynamic Safe Arbitrator for Human-Machine Shared Control

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Chinese automation Congress (CAC)

作者： Haocong Chen Yutao Chen Wu Wang Dingci Lin Jie Huang College of Electrical Engineering and Automation Fuzhou University Fuzhou China 5G+Industrial Internet Institute Fuzhou University Fuzhou China Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou China

Shared control has become a popular subject of human-machine hybrid intelligence. This paper presents a dynamic safety arbitrator for shared control in an automated vehicle. The vehicle is controlled autonomously by a model predictive controller (MPC) tracking a given trajectory, while at the same time human input is provided via a joystick. Unlike traditional mixed-initiative control methods that blend weighted human and vehicle inputs, the proposed arbitrator first adopts control barrier function (CBF) to generate weights for human and vehicle inputs under safety critical situations, and then employs the null-space based control (NSBC) to merge the two inputs with priorities determined by the weights. As a result, the final input to the vehicle has a clear physical meaning that represents dynamic priorities of human and vehicle autonomous inputs, in which the higher priority input is fully adopted and the lower priority input is partially adopted without intervening the higher priority input. An immediate advantage of the proposed arbitrator is that there is no need to tune the weights between human and autonomous inputs. Simulation results show that the dynamic safe arbitrator is effective for shared control.

关键词： automation Decision making Predictive models Real-time systems Human in the loop Safety Trajectory

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Distributed Differential Game for Formation control of Multi-UAV with Obstacle Avoidance

Distributed Differential Game for Formation Control of Multi...

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Chinese automation Congress (CAC)

作者： Zeyi Li Wenyan Xue Dongfang Li Dingci Lin Jie Huang College of Electrical Engineering and Automation Fuzhou University Fuzhou China 5G+Industrial Internet Institute Fuzhou University Fuzhou China Education Department of Fujian Province Key Laboratory of Industrial Automation Control Technology and Information Processing Fuzhou China

For the multi-unmanned aerial vehicle formation control (MUAVFC) in obstacle environments, this work proposes a new distributed non-cooperative differential game framework. This scheme adequately reflects the dynamic interaction of each UAV in the formation control process and effectively reflects the interaction of individual strategies and behaviors. Meanwhile, the game model is added with obstacle avoidance penalty constraints to achieve obstacle avoidance in the UAV formation flight and ensure flight safety. Each UAV needs to obtain the information of its neighbors following the communication topology to minimize the cost function, so that all strategy converges to Nash equilibrium. Based on the existing differential game method that only considers the formation goal, this work adds a penalty function term representing the distance between obstacles in the game model to achieve flight obstacle avoidance. In addition, this work strictly proves the existence of Nash equilibrium. The simulation results verify that the UAVs in this scheme have successfully formed a formation.

关键词： Simulation Differential games Games Autonomous aerial vehicles Nash equilibrium Formation control Safety

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