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arXiv 2024年

作者： Chen, Kaiyuan Hari, Kush Chung, Trinity Wang, Michael Tian, Nan Juette, Christian Ichnowski, Jeffrey Ren, Liu Kubiatowicz, John Stoica, Ion Goldberg, Ken Department of Electrical Engineering and Computer Science United States Robert Bosch Research and Technology Center North America SunnyvaleCA United States Robotics Institute Carnegie Mellon University United States Department of Industrial Engineering and Operations Research United States University of California BerkeleyCA United States

— Cloud robotics enables robots to offload complex computational tasks to cloud servers for performance and ease of management. However, cloud compute can be costly, cloud services can suffer occasional downtime, and connectivity between the robot and cloud can be prone to variations in network Quality-of-Service (QoS). We present FogROS2-FT (Fault Tolerant) to mitigate these issues by introducing a multi-cloud extension that automatically replicates independent stateless robotic services, routes requests to these replicas, and directs the first response back. With replication, robots can still benefit from cloud computations even when a cloud service provider is down or there is low QoS. Additionally, many cloud computing providers offer low-cost "spot" computing instances that may shutdown unpredictably. Normally, these low-cost instances would be inappropriate for cloud robotics, but the fault tolerance nature of FogROS2-FT allows them to be used reliably. We demonstrate FogROS2-FT fault tolerance capabilities in 3 cloud-robotics scenarios in simulation (visual object detection, semantic segmentation, motion planning) and 1 physical robot experiment (scan-pick-and-place). Running on the same hardware specification, FogROS2-FT achieves motion planning with up to 2.2x cost reduction and up to a 5.53x reduction on 99 Percentile (P99) long-tail latency. FogROS2-FT reduces the P99 long-tail latency of object detection and semantic segmentation by 2.0x and 2.1x, respectively, under network slowdown and resource contention. Videos and code are available at https://***/view/fogros2-ft. © 2024, CC BY.

关键词： Quality of service

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Wi-Fi Positioning Method Based on Convolutional Autoencoder and Device Heterogeneity Compensation 12th

Wi-Fi Positioning Method Based on Convolutional Autoencoder ...

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12th International Conference on Signal and Information Processing, Networking and Computers, ICSINC 2024

作者： Wang, WenFeng Zhang, Zhang Guo, Liangliang Feng, Meijuan Wang, Qu School of Automation Science and Electrical Engineering University of Science and Technology Beijing Beijing100083 China China Electronics Standardization Institute Beijing100007 China Department of Energy and Control Engineering Shanxi Information Industry Technology Research Institute Co. LTD Taiyuan030012 China

ISBN: (纸本)9789819649662

As location-based service technology continues to develop, people's demand for positioning technology is increasing. Satellite positioning technology can be widely used for positioning in outdoor environments. However, due to the weak penetration ability of satellite signals into buildings, the application of this technology in indoor environments faces many limitations. Therefore, there is an urgent need to conduct in-depth research on reliable indoor positioning technology. Among commonly used indoor positioning technologies, indoor positioning technology based on WLAN signals has the advantages of wide coverage, low deployment cost, easy installation, and non-line-of-sight propagation, so it shows excellent universality. This article proposes a Wi-Fi Positioning Method Based on convolutional autoencoder and device heterogeneity compensation. Compared with traditional Wi-Fi positioning methods such as SVM, the positioning accuracy has been greatly improved and can meet daily low-cost, high-precision indoor positioning needs. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Code division multiple access

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Design and Analysis of a Knee Exoskeleton with Self-alignment Capability

Design and Analysis of a Knee Exoskeleton with Self-alignmen...

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International Conference on Mechatronics and Machine Vision in Practice (M2VIP)

作者： Huijuan Lu Tingting Su Guotao Li Xu Liang Shengda Liu Wendong Xiao Shoulie Xie Jie Zhang Guangping He Department of Mechanical and Electrical Engineering North China University of Technology Beijing China Faculty of Information Technology Beijing University of Technology Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Automation and Intelligence Beijing Jiaotong University Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing China Institute for Infocomm Research A*Star Singapore

ISBN: (数字)9798350391916

ISBN: (纸本)9798350391923

The knee exoskeleton can assist patients for knee rehabilitation exercises. In this paper, a novel knee exoskeleton with self-alignment capability is proposed. First, the structure of the knee exoskeleton is designed, which has one active and four passive joints. The four passive joints are used to realize the self-alignment function of the knee exoskeleton. Second, the kinematic model is established and analysed. Third, simulations are conducted to validate the rotation ranges of human knee and hip joints. The simulation results demonstrate that the knee exoskeleton can meet the rehabilitation needs of the patients.

关键词： Training Mechatronics Simulation Pulleys Machine vision Exoskeletons Kinematics Hip

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Multi-Agent Electricity Energy Substitutions Planning Considering Uncertainty

Multi-Agent Electricity Energy Substitutions Planning Consid...

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HVDC (HVDC), International Conference on

作者： Linlin Wang Xingong Cheng Sirui Zhang Fanpeng Bu Weiliang Liu Luhao Wang School of Automation and Electrical Engineering University of Jinan Jinan China Electricity and Energy Efficiency Institute China Electric Power Research Institute Beijing China Department of Development State grid Jiaxing Power Supply Company Jiaxing China

ISBN: (数字)9798350387759

ISBN: (纸本)9798350387766

This paper offers solutions to various obstacles in the current landscape of domestic electricity energy substitutions, such as disorderly development, mounting pressure on grid power supply, and conflicting interests among different agents. Firstly, we present a novel approach to address the challenges associated with domestic electricity energy substitutions by introducing a multi-agent distributed cooperative planning model. The model is designed to tackle demand uncertainty while focusing on the planning of electric boilers, electric heat pumps, and electric flue-curing tobacco machines. Secondly, we leverage the Linear Decision Rule (LDR) to handle demand variability during the planning phase. Thirdly, by integrating the planning model with regional distribution networks' power flow dynamics, the Augmented Lagrangian Alternating Direction Inexact Newton (ALADIN) algorithm is deployed to optimize both the planning capacity and operational power for electricity energy substitutions. The case analysis confirms the model's effectiveness, demonstrating that electric energy substitution can address user requirements while optimizing economic benefits.

关键词： Uncertainty Heat pumps Electricity Heuristic algorithms HVDC transmission Distribution networks Planning Capacity planning Resistance heating Load flow

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An Improved Method for Identifying SSVEP Single-Channel Target Frequency for BCI Systems

An Improved Method for Identifying SSVEP Single-Channel Targ...

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Emerging Trends in electrical, Control, and Telecommunication engineering (ETECTE), International Conference on

作者： Adeel Wahab Umar Shahbaz Khan Tahir Nawaz Hassan Akbar Syed Tayyab Hussain Shah Zulfiqar Hasan Khan Department of Mechatronics Engg National University of Sciences and Technology Islamabad Pakistan National Centre of Robotics and Automation National University of Sciences and Technology Islamabad Pakistan Department of Basic Sciences and Humanities National University of Sciences and Technology Islamabad Pakistan Faculty of Electrical Engineering Ghulam Ishaq Khan Institute of Engineering Sciences and Technology Topi Pakistan

ISBN: (数字)9798331504861

ISBN: (纸本)9798331504878

Steady-state visual evoked potential (SSVEP) is a brain response to flickering visual stimuli in the occipital area. SSVEP detection methods usually utilize multichannel configurations, which can be intricate and uncomfortable. Conversely, single-channel configurations are simple and user-friendly, but attaining the necessary accuracy is difficult, requiring the development of a reliable and accurate single-channel technique. For this purpose, this study introduces a hybrid VMD-LGBM approach to single-channel SSVEP detection. The proposed technique utilizes VMD as a preprocessor that decomposes the SSVEP signal into harmonic, intrinsic mode functions (IMFs), and noisy IMFs. To separate harmonic IMFs from noisy IMFs, the crest factor of the cross-correlation function was introduced. Then the restored SSVEP signal is used to extract features using power spectral density analysis (Welch's approach), followed by classification using a Light Gradient Boosting Machine. Our proposed approach performs better than available techniques in terms of classification accuracy and information transfer rate. The proposed single-channel approach provides better efficiency and user-friendliness for practical applications.

关键词： Visualization Accuracy Noise Harmonic analysis Feature extraction Reliability engineering Market research Communications technology Steady-state Noise measurement

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A Colonoscopy Training Environment with Real-Time Pressure Monitoring

A Colonoscopy Training Environment with Real-Time Pressure M...

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IEEE Biomedical Circuits and Systems (BIOCAS)

作者： Anirudh Vajpeyi Anish S. Naidu Srikanth Bhattad Jeffrey D. E. Hawel Christopher M. Schlachta Rajni V. Patel Canadian Surgical Technologies and Advanced Robotics (CSTAR) Lawson Health Research Institute London Canada Department of Electrical Engineering Western University London Canada Department of Surgery Western University London Canada

Colonoscopy is the most commonly used procedure for screening and diagnosing colorectal cancers. The number of colonoscopy procedures performed each year is increasing as colon cancer currently ranks second among the leading cancers causing death worldwide. One of the significant factors resulting in incomplete colonoscopy procedures is pain and discomfort caused by the use of excessive force by the endoscopist. Learning the necessary skills for performing a successful procedure is technically challenging and requires substantial training. The present learning techniques primarily focus on completing the procedure rather than on controlling the applied pressure transmitted by the colonoscope to the colon wall. In this paper, we present a pressure-sensing sleeve that has been developed to provide real-time pressure monitoring during colonoscopy training on a simulator. This can be used along with movement tracking of the simulator colon and three-dimensional shape estimation of the colonoscope using electromagnetic tracking for training purposes. The sensing modalities complement each other and provide the trainee with real-time visual feedback on the section of the colonoscope transmitting the pressure to the colon during a simulated colonoscopy procedure. The pressure data, the colon movement data, and the position and the quality of advancement of the scope through the colon are used to objectively evaluate the trainee’s performance using the metrics described in this paper. Such a training environment can help in providing the necessary skills to trainees while keeping the transmitted pressure within safe limits to minimize patient discomfort and maximize safety.

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Sparse LiDAR Assisted Self-supervised Stereo Disparity Estimation

Sparse LiDAR Assisted Self-supervised Stereo Disparity Estim...

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第34届中国控制与决策会议

作者： Xiaoming Zhao Weihai Chen Xingming Wu Peter C.Y.Chen Zhengguo Li School of Automation Science and Electrical Engineering Beihang University Department of Mechanical Engineering National University of Singapore SRO department Institute for Infocomm Research

Stereo matching using deep network has made significant progress in recent ***,state-of-the-art methods are based on expensive 4 D cost volume,which limits their use in real-world *** address this issue,3 D correlation maps and iterative disparity updates have been *** that in real-world platforms,such as self-driving cars and robots,the Lidar is usually *** we further introduce the sparse Lidar point into the iterative updates,which alleviates the burden of network updating the disparity from zero ***,we propose training the network in a self-supervised way so that it can be trained on any captured data for better generalization *** and comparisons show that the presented method is effective and achieves comparable results with related methods.

关键词： Stereo Lidar Disparity Self-Supervise Depth Estimation

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Bilateral Planning and Operation for Integrated Energy Service Provider and Prosumers-A Nash Bargaining-Based Method

SSRN

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SSRN 2024年

作者： Jiang, Qian Jia, Hongjie Mu, Yunfei Yu, Xiaodan Wang, Zibo Key Laboratory of Smart Grid Ministry of Education Tianjin University Tianjin300072 China China Electric Power Research Institute Haidian District Beijing100192 China Department of Electrical Automation and Information Engineering

Integrated community energy systems (ICESs) facilitate stakeholders to collaboratively create profit by planning and operating energy devices, including generation, conversion, and storage systems. However, the coupling and complementarity of multiple energy carriers, along with the comprehensive interaction among independent stakeholders, pose significant challenges in ICES planning and operating. These challenges necessitate balancing overall economic efficiency with individual stakeholder interests. This study investigates the economic interaction between the integrated energy service provider (IESP) and the photovoltaic energy prosumers (EPs) in ICES from a cooperative perspective, focusing on both planning and operating stage. A bilateral planning and operation method for the IESP and the EPs based on Nash bargaining theory is proposed in this paper. The proposed method establishes a cooperative and mutually beneficial relationship between the IESP and EPs, instead of a hierarchical paradigm. This study also presents an analysis of the relationship between the Nash bargaining problem and the social welfare maximization problem, demonstrating that solving the Nash bargaining problem can lead to a social welfare optimum. Additionally, an accelerated privacy-preserving distributed algorithm, in comparison to the central approach, is designed to solve the Nash bargaining problem. Numerical studies based on realistic data reveal that the Nash bargaining-based planning and operation method provides more benefits for both the IESP and EPs, as compared to the non-cooperation game method. © 2024, The Authors. All rights reserved.

关键词： Numerical methods

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A Review on Control Strategies of Grid-connected Energy Storage Systems for Frequency Regulation

A Review on Control Strategies of Grid-connected Energy Stor...

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Science and Technology Innovation (IAECST), International Academic Exchange Conference on

作者： Yuting Tian Yang Chen Wei Wei Yan Xia State Grid Sichuan Electric Power Research Institute Chengdu China Department of Electrical Engineering Tsinghua University Beijing China School of Automation and Information Engineering Sichuan University of Science & Engineering Yibin China

With the escalating ratio of renewable energy in the modern power system, the unpredictability and instability of renewable energy significantly impact the electricity reliability of the system. Simultaneously, the extensive integration of power electronic devices has resulted in increased damping and inertia losses within the power system, seriously affecting its frequency stability. Due to its shortcomings, such as long start-up times and slow frequency response, traditional frequency regulation units have been incapable of meeting the frequency regulation needs of new power systems. Therefore, Battery Energy Storage Systems (BESS), with their frequency support capability and fast response rate, have garnered considerable attention for application. The participation of BESS in the auxiliary market has also emerged as a key focus of research. This paper initially presents the grid-connected control strategy of BESS, subsequently analyzing the research status of BESS providing primary and secondary frequency regulation services in power systems, and offering prospects for further research trends.

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Design and Kinematics Analysis of an Index Finger Exoskeleton with Elastic Actuator

Design and Kinematics Analysis of an Index Finger Exoskeleto...

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Chinese automation Congress (CAC)

作者： Zhaoang Chen Tingting Su Guotao Li Xu Liang Shengda Liu Wendong Xiao Shoulie Xie Jie Zhang Guangping He Department of Mechanical and Electrical Engineering North China Universily of Technology Beijing China School of Information Science and Technology Beijing University of Technology Beijing China State Key Laboratory of Multimodal Artificial Intelligence Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Automation and Intelligence Beijing Jiaotong University Beijing China School of Automation and Electrical Engineering University of Science and Technology Beijing China A*Star Institute for Infocomm Research Singapore

ISBN: (数字)9798350368604

ISBN: (纸本)9798350368611

Rehabilitation training is vital to patient's recovery after stroke surgery. However, due to the inability to effectively absorb and buffer external shocks, rigid exoskeletons are more likely to cause damage to the patient's joints and muscles. In this paper, the index finger exoskeleton with elastic actuator (IFEEA) is studied. First, the IFEEA is designed to realize the flexion-extension (F/E) movements of MCP joint of index finger. Second, the kinematic model of IFEEA is analyzed. Finally, the motion experiment was carried out. The experimental results show that the IFEEA has good spatial motion ability and great potential in future applications.

关键词： Training Actuators Electric shock Fingers Exoskeletons Surgery Kinematics Stroke (medical condition) Muscles Motion control

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