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11th International Conference on Information Science and Technology, ICIST 2021

作者： Wang, Anqing Liu, Lu Qiu, Jianbin Dalian Maritime University College of Marine Electrical Engineering Dalian China City University of Hong Kong Department of Biomedical Engineering Hong Kong Hong Kong Harbin Institute of Technology Research Institute of Intelligent Control and Systems Harbin China

ISBN: (纸本)9781665412667

In this study, the cooperative output tracking problem is addressed for strict-feedback uncertain nonlinear multiagent systems. A novel distributed adaptive fuzzy control strategy is developed based on the event-triggered transmission scheme. With the proposed approach, only sampled output information needs to be exchanged among the communication network, which not only reduces the communication burden, but also makes the controller implementation more flexible. In addition, Zeno behavior is avoided and the cooperative output tracking error converges to an adjustable set around the origin by choosing different design parameters. The effectiveness of the main result is verified by a simulation example. © 2021 IEEE.

关键词： Multi agent systems

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Platoon-Based Distributed control for Automated Material Handling systems

Platoon-Based Distributed Control for Automated Material Han...

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

作者： Alessandro Bozzi Jose-Fernando Jimenez Camilo Hernandez-Rodriguez Eliana-Maria Gonzalez-Neira Damien Trentesaux Department of Informatics Bioengineering Robotics and Systems Engineering (DIBRIS) University of Genova Italy Laboratory System and Materials for Mechatronics (SYMME) Université Savoie Mont Blanc Annecy France Industrial Engineering Department Pontificia Universidad Javeriana Bogota Columbia Laboratory of Industrial and Human Automation Control Mechanical Engineering and Computer Science (LAMIH) Université Polytechnique Hauts-de-France Valenciennes France

Smart manufacturing systems combine collaborative and autonomous control systems to provide optimal performance and respond to volatile demands. A key component of smart manufacturing is material management, as raw materials, work-in-progress, and finished products must be transported to the right location at the right time. However, during the production phase, it is imperative to establish an optimal traffic control scheme in order to avoid congestion and optimize material flow. This paper proposes a platooning-based control procedure implemented in a virtual agent-based manufacturing environment to increase the material flow efficiency on a manufacturing shop floor. An analysis of the production makespan and an indicator of the level of congestion in the material handling system was conducted in order to determine productivity improvements. An agent-based simulation is used to test the effectiveness of the novel platooning approach versus a traditional basic approach. A multivariate analysis of variance (MANOVA) reveals that the inclusion of a platoon-based procedure improves production performance and reduces congestion risks.

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Port-Hamiltonian Modeling of Hydraulics in 4th Generation District Heating Networks

Port-Hamiltonian Modeling of Hydraulics in 4th Generation Di...

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IEEE Conference on Decision and control

作者： Felix Strehle Juan E. Machado Michele Cucuzzella Albertus J. Malan Jacquelien M.A. Scherpen Sören Hohmann Institute of Control Systems Karlsruhe Institute of Technology (KIT) Karlsruhe Germany Jan C. Willems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen AG Groningen the Netherlands Department of Electrical Computer and Biomedical Engineering University of Pavia Pavia Italy

ISBN: (数字)9781665467612

ISBN: (纸本)9781665467629

In this paper, we use elements of graph theory and port-Hamiltonian systems to develop a modular dynamic model describing the hydraulic behavior of 4th generation district heating networks. In contrast with earlier generation networks with a single or few heat sources and pumps, newer installations will prominently feature distributed heat generation units, bringing about a number of challenges for the control and stable operation of these systems, e.g., flow reversals and interactions among pumps controllers, which may lead to severe oscillations. We focus thus on flexible system setups with an arbitrary number of distributed heat sources and end-users interconnected through a meshed, multi-layer distribution network of pipes. Moreover, differently from related works on the topic, we incorporate dynamic models for the pumps in the system and explicitly account for the presence of pressure holding units. By inferring suitable (power-preserving) interconnection ports, we provide a number of claims about the passivity properties of the overall, interconnected system, which proves to be highly beneficial in the design of decentralized control schemes and stability analyses.

关键词： Heating systems Heat pumps Decentralized control Hydraulic systems Interconnected systems Distribution networks Stability analysis

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control system development of a fish feeding robot equipped with a water level control

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AIP Conference Proceedings 2024年第1期3140卷

作者： Abdul Kadir Muhammad Dermawan Dermawan Center for Mechatronics and Control Systems Mechanical Engineering Department Politeknik Negeri Ujung Pandang` Makassar 90245 Indonesia

The purpose of this study is to develop a fish feeding robot prototype that equipped with a water level control and to propose an effective control scheme for the robot prototype and the water level control system. The system used in this paper consists of a feed storage tank, a feed distribution mechanism, a feed ejection mechanism, an ejector position turning mechanism, a water level control system, a base and a solar panel system for energy sources. The three mechanisms used three DC motors as actuator, respectively. The feed storage tank and the water level control system used an ultrasonic sensor to measure their levels, respectively. The water level control system used two water pumps to pump water out of pond when the level of water exceeds the maximum level limit and to pump water into the pound when the level of water below the minimum level limit. On – Off and proportional – integral – derivative (PID) controllers used to control DC motors of the three mechanisms, and a proportional – integral (PI) controller used to control the water pumps, respectively. Performances of the robot prototype and the water level control were examined through laboratory scale experiments. The results of the conducted experiments are presented and discussed.

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Lidar-Based Multiple Object Tracking with Occlusion Handling

Lidar-Based Multiple Object Tracking with Occlusion Handling

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IEEE/RSJ International Conference on Intelligent Robots and systems (IROS)

作者： Ruo-Tsz Ho Chieh-Chih Wang Wen-Chieh Lin Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Hsinchu Taiwan Department of Electronics and Electrical Engineering National Yang Ming Chiao Tung University Mechanical and Mechatronics Systems Research Laboratories Industrial Technology Research Institute Hsinchu Taiwan Department of Computer Science National Yang Ming Chiao Tung University Hsinchu Taiwan

Occlusion remains an issue in multiple object tracking, which could cause ambiguity in object detection, such as incorrect or missing detection. Under occlusion, a track could experience an early termination, resulting in identity switches and/or fragmentation. To recover from different lengths of occlusions, the track should be maintained by considering its occlusion status. To address the issues mentioned above, we propose an indicator that can model the track's occlusion extent via geometric information provided by LiDAR data. Through incorporating the indicator into the track management and data association process, it is feasible to prevent tracks from premature termination. The proposed method is evaluated on the collected dataset which undergoes frequent and severe occlusions. Compared to the state-of-the-art probabilistic tracking approach, our approach achieves improvements of 3.26% in MOTA and 5.36% in IDF1. Additionally, we obtain 9.89% improvements in IDF1 specifically for objects experiencing severe occlusions.

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Automated Assembly by Two-Fingered Microhand for Fabrication of Soft Magnetic Microrobots

Automated Assembly by Two-Fingered Microhand for Fabrication...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Yue Zhao Xiaoming Liu Ruixi Wang Dan Liu Masaru Kojima Qiang Huang Tatsuo Arai Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Advanced Innovation Center for Intelligent Robots and Systems Beijing China School of Mechatronical Engineering Beijing Institute of Technology Beijing China Department of Intelligent Manufacturing Shenzhen International Graduate School Tsinghua University Shenzhen China Department of Materials Engineering Science Osaka University Osaka Japan Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Micro-assembly is an emerging method to fabricate microrobots with multiple modules or particles. However, there is always a lack of a flexible and efficient method to freely create the desired magnetic soft microrobots. In this paper, an automated assembly system based on a two-fingered microhand is presented for fabricating magnetic soft microrobots. Our proposed system can automatically pick and place components to assemble microrobots with a two-fingered micromanipulator, and orient these components through an external magnetic field. The automated assembly has the advantages of high accuracy, high speed, and high success rate. It can endow magnetic microrobots with flexible material selection, arbitrary geometry design, and programable magnetization profile. We can make full use of this system to fabricate multiple magnetic soft microrobots. The experiment results demonstrate that this system can efficiently fabricate microrobots with excellent mechanical properties, which have application potential in robotics, biomedical engineering, and environmental governance.

关键词： Three-dimensional displays Shape Micromanipulators Magnetization Manuals Three-dimensional printing Soft magnetic materials

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Forecasting Slow-Wave Sleep Deficiency Through Stress-Related Markers in Forehead EEG

Forecasting Slow-Wave Sleep Deficiency Through Stress-Relate...

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2024 IEEE International Conference on systems, Man, and Cybernetics, SMC 2024

作者： Su, Cheng-Hua Ko, Li-Wei Jung, Tzyy-Ping Onton, Julie Tzou, Shey-Cherng Juang, Jia-Chi Hsu, Chung-Yao Institute of Bioinformatics and Systems Biology National Yang Ming Chiao Tung University Hsinchu300 Taiwan Institute of Electrical and Control Engineering National Yang Ming Chiao Tung University Hsinchu300 Taiwan Kaohsiung Medical University Drug Development and Value Creation Research Center Department of Biomedical Science and Environmental Biology Kaohsiung807 Taiwan Institute for Neural Computation Institute of Engineering in Medicine University of California San Diego La Jolla CA92093 United States College of Electrical Engineering National Yang Ming Chiao Tung University Hsinchu300 Taiwan Institute for Neural Computation University of California San Diego La Jolla CA92093 United States Kaohsiung Medical University Hospital Sleep Disorders Center Department of Neurology Kaohsiung807 Taiwan College of Medicine Kaohsiung Medical University Department of Neurology Kaohsiung807 Taiwan

ISBN: (纸本)9781665410205

Sleep quality is critical for human well-being. Lack of sleep and poor sleep quality impair daily cognitive functions and health. While stress has been recognized as a detrimental factor on sleep quality, the relationship between pre-sleep stress level, resting EEG and subsequent sleep structure remains to be explored. This study presents a novel approach that evaluates pre-sleep stress levels using a 2-channel EEG to predict slow-wave sleep (SWS) deficiency. We recorded forehead EEG immediately before sleep onset, then utilized power spectra and entropy analysis to extract stress-related neurological features, including beta/delta correlation, alpha asymmetry, fuzzy entropy (FuzzEn), and spectral entropy (SpEn). We found that individuals with SWS deficiency exhibited signs of stress, such as a robust beta/delta correlation, higher alpha asymmetry, and increased FuzzEn. Conversely, individuals with ample SWS displayed weak beta/delta correlation and reduced FuzzEn in EEG recordings. Finally, we tested the robustness of the selected neuro markers with two supervised learning models and found that the selected markers predict SWS deficiency with an accuracy above 70%. Our study demonstrated that stress-related neurological markers derived from pre-sleep EEG can effectively predict SWS deficiency. The proposed method can be integrated with a portable EEG device and sleep-improving interventions to develop a personalized sleep-improvement solution. © 2024 IEEE.

关键词： Sleep research

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Development of a 3-RRS Micromanipulator Based on Origami-Inspired Spherical Joint

Development of a 3-RRS Micromanipulator Based on Origami-Ins...

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IEEE International Conference on Robotics and Automation (ICRA)

作者： Haoqi Han Xiaoming Liu Yan Chen Hao Pang Xiaoqing Tang Dan Liu Qiang Huang Tatsuo Arai Beijing Advanced Innovation Center for Intelligent Robots and Systems and School of Mechatronical Engineering Key Laboratory of Biomimetic Robots and Systems Ministry of Education State Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing China Department of Micro-Nano Electronics Shanghai Jiao Tong University China Center for Neuroscience and Biomedical Engineering The University of Electro-Communications Tokyo Japan

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

In recent years, micromanipulation technology has achieved extensive applications in industry and life science. Improving the precision and bandwidth of the micromanipulator and simultaneously reducing size, weight, and cost pose significant challenges to the existing micromanipulator design and fabrication methods. Here, we propose a 3-RRS micromanipulator with an origami-inspired spherical joint based on the PC-MEMS process, aiming for miniaturization and cost-effectiveness. The spherical joint allows rotations of 140° around the x-axis approximately, 140° around the y-axis approximately, and 20° around the z-axis approximately. The micromanipulator has weights of 0.8 g, dimensions of 16 mm × 16 mm × 22 mm, and workspace of 0.7 mm 3 . The end platform of the micromanipulator can be equipped with various effectors to accomplish different kinds of tasks. Experimental results validated its high precision and bandwidth, exhibiting its potential to perform intricate micromanipulation tasks.

关键词： Industries Fabrication Costs Micromanipulators Design methodology Bandwidth Life sciences

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An autoregressive multiple model probabilistic framework for the detection of SSVePs in brain-computer interfaces 13

An autoregressive multiple model probabilistic framework for...

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13th International Conference on Bio-Inspired systems and Signal Processing, BIOSIGNALS 2020 - Part of 13th International Joint Conference on biomedical engineering systems and Technologies, BIOSTEC 2020

作者： Zerafa, Rosanne Camilleri, Tracey Falzon, Owen Camilleri, Kenneth P. Department of Systems and Control Engineering Faculty of Engineering University of Malta Msida Malta Centre for Biomedical Cybernetics University of Malta Msida Malta

ISBN: (纸本)9789897583988

This work investigates a novel autoregressive multiple model (AR-MM) probabilistic framework for the detection of steady-state visual evoked potentials (SSVEPs) in brain-computer interfaces (BCIs). The proposed method is compared to standard SSVEP detection techniques using a 12-class SSVEP dataset recorded from 10 subjects. The results, obtained from a single-channel analysis, reveal that the AR-MM probabilistic framework significantly improves the SSVEP detection performance compared to the standard single-channel power spectral density analysis (PSDA) method. Specifically, an average classification accuracy of 82.02 ± 16.21 % and an information transfer rate (ITR) of 48.22 ± 17.25 bpm are obtained with a 2 s period for SSVEP detection with the AR-MM probabilistic framework. These results are found to be on average only 2.29 % and 3.73 % lower in classification accuracy compared to the state-of-the-art multichannel SSVEP detection methods, specifically the canonical correlation analysis (CCA) and the filter bank canonical correlation analysis (FBCCA) methods, respectively. In terms of training, it is shown that the proposed approach requires only a few seconds of data to train each model. This study revealed the potential of using the AR-MM probabilistic approach to distinguish between different classes using single-channel SSVEP data. The proposed method is particularly appealing for practical use in real-world BCI applications where a minimal amount of channels and training data are desirable. Copyright © 2020 by SCITEPRESS – Science and Technology Publications, Lda. All rights reserved.

关键词： Electroencephalography

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User discomfort in SSVEP-based BCIs - can modulation depth offer a solution?

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Research in biomedical engineering and Technology 2024年第4期11卷

作者： Cheryl Gilford Tracey Camilleri Kenneth P. Camilleri a Department of Systems and Control Engineering Faculty of Engineering University of Malta Msida Malta a Department of Systems and Control Engineering Faculty of Engineering University of Malta Msida Maltab Centre for Biomedical Cybernetics University of Malta Msida Malta

ABSTRACTSteady-state visual evoked potential (SSVEP)-based brain-computer interfaces (BCIs) enable people to control external devices by focusing on repetitive visual stimuli (RVS). However, RVS can be visually annoying and cause user discomfort. To address this issue, this study proposes subtle flickering RVS to enhance visual comfort with SSVEP-based BCIs. Previous research on mitigating this discomfort has explored various stimuli characteristics, such as frequencies, colors, and patterns, but some studies are contradicting and have their limitations. This study investigates whether modulation depth (MD) can reduce user discomfort when using LCD-displayed stimuli. Specifically, MDs ranging from 1 down to 0.0125 and their effect on SSVEP response and BCI performance have been computed. Results demonstrate that stimuli with a 0.5 MD achieve accuracy and information-transfer rate (ITR) performance of 80.06% and 41.6 bpm which are at par with a baseline BCI having stimuli with a MD of 1, having 79.98% accuracy and 41.08 bpm ITR. These findings demonstrate that a lower flicker annoyance may be obtained with stimuli having a MD of 0.5. By reducing user discomfort, the proposed subtle flickering RVS can improve user experience without significant degradation in performance, potentially increasing the adoption and usability of SSVEP-based BCIs.

关键词： Brain-computer interfaces steady-state visual evoked potentials modulation depth electroencephalography flickering stimuli visual perception curve

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