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IEEE Workshop on Advanced robotics and its Social Impacts, ARSO

作者： Andrea Lucaroni Andrea Bottino Fabrizio Lamberti Giulia Mariani Andrea Marinelli Nicolò Boccardo Emanuele Gruppioni Lorenzo De Michieli Matteo Laffranchi Giacinto Barresi Rehab Technologies Lab Istituto Italiano di Tecnologia Genoa Italy Department of Informatics Bioengineering Robotics and Systems Engineering Università degli Studi di Genova Genoa Italy Department of Control and Computer Engineering Politecnico di Torino Turin Italy Open University Affiliated Research Centre at Istituto Italiano di Tecnologia (ARC@IIT) Genoa Italy Centro Protesi INAIL Istituto Nazionale per l’Assicurazione contro gli Infortuni sul Lavoro Bologna Italy

ISBN: (数字)9798350344639

ISBN: (纸本)9798350344646

The embodiment (the sensation that an external object is part of one’s body scheme) is one of the processes targeted by the research in bionic prosthetics as a potential strategy to increase the acceptance of artificial limbs. This study investigates how one of the components of the embodiment, the body ownership (the sensation of possessing the external object), may be affected by a secondary task (possibly competing for cognitive resources requested for the embodiment itself) in a virtual exergame for prosthetic training. In this preliminary study participants, without impairments, are asked to perform activities of pick-and-place in two conditions by using a digital model of the Hannes bionic hand: (i) one is cognitively challenging, requiring to memorize the sequence of objects to move before it disappears; (ii) the other is non-challenging for the subject’s memory, with a constantly visible sequence. In both conditions, each subject is asked to catch objects according to the presented sequence. According to questionnaire data, we noticed how this procedure is feasible. Interestingly, the proprioceptive drift (the person is asked to indicate where they perceive their own real limb without looking at it) in a subsequent Rubber Hand Illusion session with the real bionic hand seems highlighting that the working memory-engaging secondary task can impair the embodiment process in terms of body ownership of the robotic hand. Probably, the memory task actually requires a type of cognitive resources that are necessary for the body ownership process itself during the multisensory stimulation. This allows for envisioning further investigations and novel design concepts for prosthetic training paradigms.

关键词： Training Solid modeling Visualization Biological system modeling Memory management Propioception Virtual environments

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Projected Sliced Wasserstein Autoencoder-based Hyperspectral Images Anomaly Detection

arXiv

引用

arXiv 2021年

作者： Chen, Yurong Zhang, Hui Wang, Yaonan Wu, Q. M. Jonathan Yang, Yimin National Engineering Laboratory of Robot Visual Perception and Control Technology School of Robotics Hunan University Hunan Changsha410082 China Department of Electrical and Computer Engineering University of Windsor WindsorONN9B3P4 Canada Department of Computer Science Lakehead University ONP7B 5E1 Canada Vector Institute TorontoONM5G 1M1 Canada

Anomaly detection refers to identifying the observation that deviates from the normal pattern, which has been an active research area in various domains. Recently, the increasing data scale, complexity, and dimension turns the traditional representation and statistical-based outlier detection method into challenging. In this paper, we leverage the generative model in hyperspectral images anomaly detection. The gist is to model the distribution of the normal data, while the out-of-distribution sample can be viewed as the outlier. At first, the variational inference-based anomaly detection methods are investigated. We theoretically and empirically find that they are unstable due to the strong notion of distance (f-divergence) served as the regularization. Secondly, this paper introduces sliced Wasserstein distance, which is a weaker distribution measure compared with f-divergence. However, the number of randomly slicing poses a difficulty to estimate the true distance. In the end, we propose a projected sliced Wasserstein (PSW) autoencoder-based anomaly screening method. In particular, we leverage a computation-friendly eigen-decomposition method to find the principal component as slicing the high-dimensional data. Furthermore, our proposed distance can be calculated with the closed-form, even the prior distribution is not Gaussian. Comprehensive experiments conducted on various real-world hyperspectral anomaly detection benchmarks demonstrate the superior performance of our proposed method. © 2021, CC BY.

关键词： Spectroscopy

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Annual business and news: Beginning the 32nd year

引用

Journal of Guidance, control, and Dynamics 2009年第1期32卷 1-7页

作者： Schmidt, George T. Akella, Maruthir Balakrishnan, S.N. Campbell, Mark E. Clarke, John-Paul Colgren, Richard D. Crassidis, John L. Doman, David B. Eke, Fidelis O. Enns, Russell J. Gawronski, Wodek Hablani, Hari B. Leitner, Jesse A. Ping, Lu MacDonald, Malcolm McFarland, Michael B. Melton, Robert G. Mitchell, James Mukhopadhyay, Vivekanand Sasiadek, Jurek Z. Schaub, Hanspeter Wise, Kevin A. United States NATO Systems and Electronics Technology Panel Lecture Series on Low Cost Navigation Sensors and Integration Technology U.S. Air Force Office of Scientific Research United States United States American Automatic Control Council United States Sibley School of Mechanical and Aerospace Engineering Cornell University United States School of Aerospace Engineering Air Transportation Laboratory Georgia Institute of Technology United States Lockheed Martin Aeronautics Company Palmdale CA United States United States Wright-Patterson Air Force Base Dayton OH United States Davis United States Apache Longbow Jet Propulsion Laboratory California Institute of Technology United States GSFC United States Department of Aerospace Engineenng Iowa State University United States Raytheon Electronic Systems United States Department of Aerospace Engineering Pennsylvania State University United States NASA Langley Research Center United States Indian Institute of Technology India Department of Aerospace Engineering Carleton University Canada International Federation of Automatic Control Robotics Technical Committee Joint Robotics and Control Systems Societies Chapter Ottawa Canada X-45 Joint-Unmanned Combat Air System Program

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Variable population memetic search: A case study on the critical node problem

arXiv

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arXiv 2019年

作者： Zhou, Yangming Hao, Jin-Kao Fu, Zhang-Hua Wang, Zhe Lai, Xiangjing School of Information Science and Engineering East China University of Science and Technology 130 Meilong Road Shanghai200237 China Key Laboratory of Advanced Control and Optimization for Chemical Processes Ministry of Education Department of Computer Science LERIA Université d'Angers 2 Boulevard Lavoisier Angers49045 France Institut Universitaire de France 1 rue Descartes Paris75231 France Robotics Laboratory for Logistics Service Institute of Robotics and Intelligent Manufacturing Chinese University of Hong Kong Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen518172 China Institute of Advanced Technology Nanjing University of Posts and Telecommunications Nanjing210023 China

Population-based memetic algorithms have been successfully applied to solve many difficult combinatorial problems. Often, a population of fixed size was used in such algorithms to record some best solutions sampled during the search. However, given the particular features of the problem instance under consideration, a population of variable size would be more suitable to ensure the best search performance possible. In this work, we propose variable population memetic search (VPMS), where a strategic population sizing mechanism is used to dynamically adjust the population size during the memetic search process. Our VPMS approach starts its search from a small population of only two solutions to focus on exploitation, and then adapts the population size according to the search status to continuously influence the balancing between exploitation and exploration. We illustrate an application of the VPMS approach to solve the challenging critical node problem (CNP). We show that the VPMS algorithm integrating a variable population, an effective local optimization procedure (called diversified late acceptance search) and a backbone-based crossover operator performs very well compared to state-of-the-art CNP algorithms. The algorithm is able to discover new upper bounds for 13 instances out of the 42 popular benchmark instances, while matching 23 previous best-known upper bounds. Copyright © 2019, The Authors. All rights reserved.

关键词： Population statistics

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On Embeddings and Inverse Embeddings of Input Design for Regularized System Identification

arXiv

引用

arXiv 2022年

作者： Mu, Biqiang Chen, Tianshi Kong, He Jiang, Bo Wang, Lei Wu, Junfeng Key Laboratory of Systems and Control Institute of Systems Science Academy of Mathematics and Systems Science Chinese Academy of Sciences Beijing100190 China School of Data Science Shenzhen Research Institute of Big Data The Chinese University of Hong Kong Shenzhen518172 China Shenzhen Key Laboratory of Biomimetic Robotics and Intelligent Systems Department of Mechanical and Energy Engineering Southern University of Science and Technology Shenzhen518055 China Guangdong Provincial Key Laboratory of Human-Augmentation and Rehabilitation Robotics in Universities Southern University of Science and Technology Shenzhen518055 China Key Laboratory for NSLSCS of Jiangsu Province School of Mathematical Sciences Nanjing Normal University Nanjing China College of Control Science and Engineering Zhejiang University Hangzhou China

Input design is an important problem for system identification and has been well studied for the classical system identification, i.e., the maximum likelihood/prediction error method. For the emerging regularized system identification, the study on input design has just started, and it is often formulated as a non-convex optimization problem that minimizes a scalar measure of the Bayesian mean squared error matrix subject to certain constraints, and the state-of-art method is the so-called quadratic mapping and inverse embedding (QMIE) method, where a time domain inverse embedding (TDIE) is proposed to find the inverse of the quadratic mapping. In this paper, we report some new results on the embeddings/inverse embeddings of the QMIE method. Firstly, we present a general result on the frequency domain inverse embedding (FDIE) that is to find the inverse of the quadratic mapping described by the discrete-time Fourier transform. Then we show the relation between the TDIE and the FDIE from a graph signal processing perspective. Finally, motivated by this perspective, we further propose a graph induced embedding and its inverse, which include the previously introduced embeddings as special cases. This deepens the understanding of input design from a new viewpoint beyond the real domain and the frequency domain viewpoints. Copyright © 2022, The Authors. All rights reserved.

关键词： Embeddings

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Constructive barrier feedback for collision avoidance in leader-follower formation control

arXiv

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arXiv 2023年

作者： Tang, Zhiqi Cunha, Rita Hamel, Tarek Silvestre, Carlos Institute for Systems and Robotics Instituto Superior Técnico Universidade de Lisboa Portugal Division of Decision and Control Systems KTH Royal Institute of Technology Sweden I3S-CNRS Université Côte d'Azur Institut Universitaire de France France Department of Electrical and Computer Engineering The Faculty of Science and Technology The University of Macau China

This paper proposes a novel constructive barrier feedback for reactive collision avoidance between two agents. It incorporates this feature in a formation tracking control strategy for a group of 2nd-order dynamic robots defined in three-dimensional space. Using only relative measurements between neighboring agents, we propose an elegant decentralized controller as the sum of a nominal tracking controller and the constructive barrier feedback for leader-follower formations under a directed single-spanning tree graph topology. The key ingredient is the use of divergent flow as a dissipative term, which slows down the relative velocity in the direction of the neighboring robots without compromising the nominal controller's performance. Compared to traditional barrier function-based optimization controllers, the proposed constructive barrier feedback avoids feasibility issues and results in more computationally efficient control algorithms with systematic equilibrium analysis. Simulations are provided to validate the effectiveness of the proposed control method. © 2023, CC BY-NC-ND.

关键词： Collision avoidance

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Haptic interfaces for the rescue walking robots motion in the disaster areas

Haptic interfaces for the rescue walking robots motion in th...

引用

UKACC International Conference on control (control)

作者： Luige Vladareanu Octavian Melinte Adrian Bruja Hongbo Wang Xiaojie Wang Shuang Cang Hongnian Yu Zeng-Guang Hou Xiao-Liang Xie Robotics and Mechatronics Department Institute of Solid Mechanics C-tin Mille 15 Bucharest 1 ROMANIA School of Design Engineering and Computing Boumemouth University Poole Dorset UK Parallel Robot and Mechatronic System Laboratory of Hebei Province University Qinhuangdao CHINA State Key Laboratory of Management and Control for Complex Systems Beijing P.R.CHINA

In the recent years haptic interfaces became a reliable solution in order to solve problems which arise when humans interact with the environment. If in the research area of the haptic interaction between human and environment there are important researches, a innovative approach for the interaction between the robot and the environment using haptic interfaces and virtual projection method is presented in this paper. In order to control this interaction we used the Virtual Projection Method where haptic control interfaces of impedance and admittance will be embedded. The obtained results, validated by simulations assure stability, stiffness, high maneuverability and adaptability for rescue walking robots in order to move in disaster, dangerous and hazardous areas.

关键词： Haptic interfaces Legged locomotion Robot sensing systems Impedance Force

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Fabrication of translucent graded dental crown using zirconia-yttrium multi-slurry tape casting 3D printer

引用

Journal of the Mechanical Behavior of Biomedical Materials 2024年 152卷 106406页

作者： Romario, Yulius Shan Bhat, Chinmai Ramezani, Maziar Pasang, Tim Chen, Zhangwei Jiang, Cho-Pei Graduate Institute of Manufacturing Technology National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan High-value Biomaterials Research and Commercialization Center National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan Department of Mechanical Engineering Auckland University of Technology Auckland1010 New Zealand Department of Engineering Design Manufacturing and Management Systems Western Michigan University KalamazooMI4900-5200 United States Additive Manufacturing Institute Shenzhen University Shenzhen518060 China Guangdong Key Laboratory of Electromagnetic Control and Intelligent Robotics College of Mechatronics and Control Engineering Shenzhen University Shenzhen518060 China Department of Mechanical Engineering National Taipei University of Technology 1 Sec. 3 Zhongxiao E. Rd. Taipei10608 Taiwan

This paper aims to fabricate functionally graded dental crown using a multi-slurry tape casting additive manufacturing technology. The different luminescence of the dental crown was obtained with different composition of zirconia and yttria. Zirconia with tunable mechanical properties and translucency are obtained by adding 3, 3.5, 4, 4.5, and 5 mol% of yttrium oxide to zirconia powder. After obtaining the printable slurry with maximum solid loading, the green bodies are prepared using the in-house built high-speed multi-ceramic tape casting technology. They are later sintered with two-stage sintering method. After the successful fabrication, the mechanical properties and translucency of the specimens were evaluated with Vickers hardness, three-point bending and translucency parameter tests. Finally, an FGM tooth crown with five photocurable slurries is proposed to demonstrate the translucent gradient effect of sintered part. The solid loading of 80% zirconia and 20% resin delivered samples without any surface cracks. The shrinkage ratio analysis showed that the sintered sample dimension was reduced by 20%, 20%, and 23% along X, Y, and Z directions. The samples fabricated with 3% yttrium oxide to zirconia delivered excellent hardness (1687 HV) and flexural strength (650.6 MPa). However, the relative luminescence increased with increasing the yttrium oxide for 3–5 mol%. With the optimized process parameters, the proposed dental crown is fabricated and analyzed for their shrinkage ratio, mechanical, and translucency properties. The study proposes the potential of fabricating customized dental crown with gradient translucent appearance. © 2024

关键词： Zirconia

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Search-based optimal motion planning for automated driving

arXiv

引用

arXiv 2018年

作者： Ajanovic, Zlatan Lacevic, Bakir Shyrokau, Barys Stolz, Michael Horn, Martin Virtual Vehicle Research Center Inffeldgasse 21a Graz8010 Austria Faculty of Electrical Engineering University of Sarajevo Sarajevo Bosnia Herzegovina7100 Bosnia and Herzegovina Department of Cognitive Robotics Delft University of Technology Mekelweg 2 Delft2628 Netherlands Institute of Automation and Control at Graz University of Technology Inffeldgasse 21b Graz8010 Austria

This paper presents a framework for fast and robust motion planning designed to facilitate automated driving. The framework allows for real-time computation even for horizons of several hundred meters and thus enabling automated driving in urban conditions. This is achieved through several features. Firstly, a convenient geometrical representation of both the search space and driving constraints enables the use of classical path planning approach. Thus, a wide variety of constraints can be tackled simultaneously (other vehicles, traffic lights, etc.). Secondly, an exact cost-to-go map, obtained by solving a relaxed problem, is then used by A∗-based algorithm with model predictive flavour in order to compute the optimal motion trajectory. The algorithm takes into account both distance and time horizons. The approach is validated within a simulation study with realistic traffic scenarios. We demonstrate the capability of the algorithm to devise plans both in fast and slow driving conditions, even when full stop is required. Copyright © 2018, The Authors. All rights reserved.

关键词： Motion planning

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State observation of affine-in-the-states systems with unknown time-varying parameters and output delay

arXiv

引用

arXiv 2021年

作者： Bobtsov, Alexey Nikolaev, Nikolay Ortega, Romeo Efimov, Denis Kozachek, Olga Department of Control Systems and Robotics ITMO University Kronverkskiy av. 49 Saint-Petersburg197101 Russia Departamento Académico de Sistemas Digitales ITAM Ciudad de México Mexico INRIA Univ. Lille CNRS UMR 9189 CRIStAL LilleF-59000 France Laboratory "Control of Complex Systems" Institute of Problems of Mechanical Engineering V.O. Bolshoj pr. 61 St. Petersburg199178 Russia

In this paper we address the problem of adaptive state observation of affine-in-the-states time-varying systems with delayed measurements and unknown parameters. The development of the results proposed in the [Bobtsov et al. 2021a] and in the [Bobtsov et al. 2021c] is considered. The case with known parameters has been studied by many researchers-see [Sanz et al. 2019, Bobtsov et al. 2021b] and references therein-where, similarly to the approach adopted here, the system is treated as a linear time-varying system. We show that the parameter estimation-based observer (PEBO) design proposed in [Ortega et al. 2015, 2021] provides a very simple solution for the unknown parameter case. Moreover, when PEBO is combined with the dynamic regressor extension and mixing (DREM) estimation technique [Aranovskiy et al. 2016, Ortega et al. 2019], the estimated state converges in fixed-time with extremely weak excitation assumptions. © 2021, CC BY-NC-ND.

关键词： Parameter estimation

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