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91st IEEE Vehicular Technology Conference, VTC Spring 2020

作者： Fahim, Ahmed Gadallah, Yasser Robotics Control and Smart Systems American University in Cairo Department of Electronics and Communications Engineering New Cairo11835 Egypt

ISBN: (纸本)9781728152073

The deployment of drone-mounted communication systems has received increasing interest and attention recently as it allows significant improvement to the network access capacity and coverage. Many applications can benefit from such deployments in particular machine-to-machine (M2M) communications. In this study, we propose a technique for the rapid deployment of an LTE drone-mounted base station to serve a group of machine-type-communication devices (MTCDs) that are deployed in disaster situations or within remote applications. The objective is to maximize the number of served MTCDs while meeting their transmission delay requirements. This results in optimizing the 3D placement of the drone base station as well as the allocation of the available communication resources. We evaluated the proposed technique through several simulation experiments. The simulation results demonstrate significant improvement in the aggregate system throughput and the overall system deadline missing performance along with the increased number of served MTCDs compared to other drone placement approaches. © 2020 IEEE.

关键词： Machine-to-machine communication

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Development and Evaluation of a Wearable Lower Limb Rehabilitation Robot

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Journal of Bionic Engineering 2022年第3期19卷 688-699页

作者： Wanting Li Keping Liu Chunxu Li Zhongbo Sun Shui Liu Jian Gu Department of Control Engineering Changchun University of TechnologyChangchun130012China Centre for Robotics and Neural Systems University of PlymouthPlymouthPL48AAUK School of Mechatronical Engineering Changchun University of TechnologyChangchun130012China

This paper introduces a rigid-flexible coupling wearable exoskeleton robot for lower limb,which is designed in light of gait biomechanics and beneficial for low limb movement disorders by implementing gait *** rationality of the proposed mechanism is shown with the implementation of the dynamic simulation through MSC *** the purposes of lightweight,the exoskeleton mechanism is optimized through finite element *** can be concluded from performance evaluation experiment,the mechanism has certain advantages over existing exoskeleton robots,namely,comfortable,lightweight,low cost,which can be utilized for rehabilitation training in medical institutions or as a daily-walking ancillary equipment for patients.

关键词： Wearable rehabilitation robot Biomechanics Robot mechanism design Virtual analysis

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Output-feedback-based affine formation manoeuvre control of multi-agent systems applying negative imaginary systems theory 63

Output-feedback-based affine formation manoeuvre control of ...

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63rd IEEE Conference on Decision and control, CDC 2024

作者： Su, Yu-Hsiang Bhowmick, Parijat Lanzon, Alexander Iit Guwahati Department of Eee Assam 781039 India University of Manchester Control Systems and Robotics Group Department of Eee United Kingdom

ISBN: (纸本)9798350316339

This paper exploits the Negative Imaginary systems theory to develop a novel affine formation manoeuvre control framework for multi-agent systems using dynamic output feedback. The framework begins by deriving affine transformation matrices for leader agents, enabling dynamic adjustments from the nominal formation to the target formation. An output-feedback distributed Strictly Negative Imaginary control law is then proposed for follower agents to achieve affine formation manoeuvres. Unlike existing affine formation manoeuvre control schemes, which typically rely on full-state feedback (including both position and velocity measurements), the proposed approach requires only relative position measurements. In addition, it offers more freedom in choosing a dynamic controller transfer function, thereby improving formation tracking performance. A comprehensive simulation case study is provided to test the effectiveness of the proposed output-feedback-based affine formation manoeuvre control framework. © 2024 IEEE.

关键词： Affine transforms

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Flicker Measurement Coprocessor for AMI Meters 12

Flicker Measurement Coprocessor for AMI Meters

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12th International Conference and Exhibition on Electrical Power Quality and Utilisation, EPQU 2020

作者： Kolek, Krzysztof Firlit, Andrzej Piatek, Krzysztof Chmielowiec, Krzysztof Agh University of Science and Technology Department of Automatic Control and Robotics Krakow Poland Agh University of Science and Technology Department of Power Electronics and Energy Control Systems Krakow Poland

ISBN: (纸本)9781728174617

Power quality (PQ) metering is an important part of the maintenance of modern electrical grids. Among different PQ indices, flicker severity coefficients Pst and Plt are measures of voltage fluctuation. In typical PQ analysers, the flicker measurement is usually implemented as a part of the meter's algorithm performed by the main processor. Implementation of the IEC 61000-4-15 compliant flicker measurement algorithm requires a significant amount of computational power. To offload the processor subsystem this paper considers the implementation of the flicker measurement as an FPGA module. The measurement algorithm is developed and validated as a Simulink diagram, which is then converted to a fixed-point representation. Parts of the diagram are applied for automatic VHDL code generations and the classifier block is implemented as a local soft-processor system. A simple 8-bit processor operates within the flicker measurement coprocessor and performs statistical operations. Finally, an IP module is created that can be considered as a flicker coprocessor module. When using thy coprocessor, the only role of the main processor is to trigger the coprocessor and read results, while the coprocessor independently calculates the flicker coefficients. © 2020 IEEE.

关键词： Field programmable gate arrays (FPGA)

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Momentum based traversal of mobility challenges for autonomous ground vehicles

Momentum based traversal of mobility challenges for autonomo...

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2013 IEEE International Conference on robotics and Automation, ICRA 2013

作者： Ordonez, Camilo Gupta, Nikhil Chuy Jr., Oscar Collins Jr., Emmanuel G. Center for Intelligent Systems Control and Robotics Department of Mechanical Engineering Florida AandM University Tallahassee FL 32310 United States

ISBN: (纸本)9781467356411

Autonomous ground vehicles operating in the field are likely to be faced with several mobility challenges such as piles of rubble, water crossings, steep hills, mud, and stiff vegetation patches. These scenarios are particularly critical for smaller robots with torque and power limited actuators, which as experimentally shown in this work can easily fail to accomplish their tasks in these environments. This paper motivates and provides a methodology that integrates the robot, actuator and terrain models with an efficient motion planner to exploit the vehicle momentum as a way to successfully traverse these difficult terrains. In particular, experimental results showing the efficacy of the proposed methodology are presented for a vegetation patch and a steep hill. Finally, a discussion of the necessary perception work to fully automate the process is included. © 2013 IEEE.

关键词： Actuators

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Method for Improvement of Biosignal Measurement Accuracy in the IoB System 27

Method for Improvement of Biosignal Measurement Accuracy in ...

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27th International Conference on Soft Computing and Measurements, SCM 2024

作者： Altay, Yeldos A. Uskenbayeva, Raisa K. Fedorov, Alexey V. Satbayev University Department of Robotics and Technical Means of Automation Almaty Kazakhstan Satbayev University Almaty Kazakhstan Itmo University Faculty of Control Systems and Robotics Saint-Petersburg Russia

ISBN: (纸本)9798350363708

This paper presents filtering methods for improvement of biosignal measurement accuracy - an ECG signal under the influence of electromagnetic interference, which has a significant impact on the operation of the IoB system. A single-frequency polynomial notch filter has been synthesized to filter this noise to improve the accuracy of ECG signal measurement. The results of the implementation of the synthesized notch filter demonstrated that the filter makes it possible to separate the informative component from the distorting noise and increase the accuracy of signal measurement during its implementation in comparison with wavelet filters. © 2024 IEEE.

关键词： Notch filters

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A Position-Force control Approach for an Underwater Vehicle-Manipulator System

A Position-Force Control Approach for an Underwater Vehicle-...

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2023 International Conference on Ocean Studies, ICOS 2023

作者： Kabanov, Aleksey A. Dementiev, Kirill V. Sevastopol State University Department of Informatics and Control in Technical Systems Sevastopol Russia Sevastopol State University Robotics and Intelligent Control System Laboratory Sevastopol Russia

ISBN: (纸本)9798350382457

The paper proposes an approach to position-force control in the underwater vehicle-manipulator systems. There are two different strategies to realize position-force control systems: through a decoupled or coupled controller. The first one is more flexible and is used in the present article as a PID-controllers array. The paper considers the generalized system design methodology applicable to control objects of any kinematic structure. Compensation blocks for manipulator disturbances and calculation of additional end-effector offset to maintain a constant force on the operating point are proposed. The system also utilizes the desired underwater vehicle position calculation based on the relativity of the vehicle position and operating point for a heading set point. The modeling results showed that the system is able to perform qualitatively force operations in a given point of the working space. In addition, the graphs revealed the compensator unit efficiency and confirmed the necessity of the additional offset calculation unit. © 2023 IEEE.

关键词： Manipulators

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6-DOF AUV Identification with MIMO-NARX

6-DOF AUV Identification with MIMO-NARX

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2023 International Conference on Industrial Engineering, Applications and Manufacturing, ICIEAM 2023

作者： Kabanov, Aleksey A. Lipko, Ivan Y. Dementiev, Kirill V. Sevastopol State University Department of Informatics and Control in Technical Systems Sevastopol Russia Sevastopol State University Robotics and Intelligent Control System Laboratory Sevastopol Russia

ISBN: (纸本)9781665475952

This paper applies the MIMO NARX neural model to identify AUV with six degrees of freedom. Strongly nonlinear dependencies are modeled using a MIMO NARX model trained using «input-output» experimental data. This results in a grey box model with a partially known internal structure that can be supervised. This is achieved by specifying a certain regressors type, which is feedback to the model input. Obtained results show that the neural model trained by the Levenberg-Marquardt numerical algorithm provides acceptable performance and accuracy. Validation of the model was performed using data from full-scale experiments, which allowed to identify the weaknesses and advantages of the resulting system more accurately. © 2023 IEEE.

关键词： Degrees of freedom (mechanics)

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Parallel Learning:a Perspective and a Framework

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IEEE/CAA Journal of Automatica Sinica 2017年第3期4卷 389-395页

作者： Li Li Yilun Lin Nanning Zheng Fei-Yue Wang Department of Automation TNListTsinghua University IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences University of Chinese Academy of Sciences Institute of Artificial Intelligence and Robotics(IAIR) Xi'an Jiaotong University Research Center for Computational Experiments and Parallel Systems Technology National University of Defense Technology

The development of machine learning in complex system is hindered by two problems *** first problem is the inefficiency of exploration in state and action space,which leads to the data-hungry of some state-of-art data-driven *** second problem is the lack of a general theory which can be used to analyze and implement a complex learning *** this paper,we proposed a general methods that can address both two *** combine the concepts of descriptive learning,predictive learning,and prescriptive learning into a uniform framework,so as to build a parallel system allowing learning system improved by *** a new perspective of data,knowledge and action,we provide a new methodology called parallel learning to design machine learning system for real-world problems.

关键词： Descriptive learning machine learning parallel learning parallel systems predictive learning prescriptive learning

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Parallel Driving in CPSS:A Unified Approach for Transport Automation and Vehicle Intelligence

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IEEE/CAA Journal of Automatica Sinica 2017年第4期4卷 577-587页

作者： Fei-Yue Wang Nan-Ning Zheng Dongpu Cao Clara Marina Martinez Li Li Teng Liu IEEE State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Research Center for Military Computational Experiments and Parallel Systems Technology National University of Defense Technology Institute of Artificial Intelligence and Robotics Xi’an Jiaotong University Advanced Vehicle Engineering Center Cranfield University Department of Automation Tsinghua University State Key Laboratory of Management and Control for Complex Systems Institute of AutomationChinese Academy of Sciences Qingdao Huituo Intelligent Machine Company

The emerging development of connected and automated vehicles imposes a significant challenge on current vehicle control and transportation systems. This paper proposes a novel unified approach, Parallel Driving, a cloud-based cyberphysical-social systems(CPSS) framework aiming at synergizing connected automated driving. This study first introduces the CPSS and ACP-based intelligent machine systems. Then the parallel driving is proposed in the cyber-physical-social space,considering interactions among vehicles, human drivers, and information. Within the framework, parallel testing, parallel learning and parallel reinforcement learning are developed and concisely reviewed. Development on intelligent horizon(iHorizon)and its applications are also presented towards parallel *** proposed parallel driving offers an ample solution for achieving a smooth, safe and efficient cooperation among connected automated vehicles with different levels of automation in future road transportation systems.

关键词： ACP theory connected automated driving cyber-physical-social systems(CPSS) iHorizon parallel driving parallel horizon parallel learning parallel reinforcement learning parallel testing

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