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IEEE/SICE International Symposium on System Integration

作者： Wael Suleiman Fumio Kanehiro Eiichi Yoshida Electrical and Computer Engineering Department Université de Sherbrooke Sherbrooke Quebec Canada Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) Tsukuba Ibaraki Japan CNRS-AIST JRL (Joint Robotics Laboratory) Tsukuba Ibaraki Japan

ISBN: (纸本)9781467372435

The problem of inverse kinematics is revisited in the present paper. The paper is focusing on the problem of solving the inverse kinematics problem while respecting velocity limits on both the robot's joints and the end-effector. Even-though the conventional inverse kinematics algorithms have been proven to be efficient in many applications, defining an admissible trajectory for the end-effector is still a burdensome task for the user, and the problem can easily become unsolvable. The main idea behind the proposed algorithms is to consider the sampling time as a free variable, hence adding more flexibility to the optimization problem associated with the inverse kinematics. We prove that the reformulated problem has always a solution if the end-effector path is in the reachable space of the robot, thus solving the problem of infeasibility of conventional inverse kinematics methods. To validate the proposed approach, we have conducted three simulations scenarios. The simulation results point that while the conventional inverse kinematics methods fail to track precisely a desired end-effector trajectory, the proposed algorithms always succeed.

关键词： Kinematics Optimization Robots Trajectory Algorithm design and analysis Jacobian matrices Angular velocity

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Semantically-enhanced Configurability in State Estimation Structures of Power systems

Semantically-enhanced Configurability in State Estimation St...

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IEEE Symposium Series on Computational Intelligence

作者： Georgios M. Milis Markos Asprou Elias Kyriakides Christos G. Panayiotou Marios M. Polycarpou KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus

ISBN: (纸本)9781479975617

The estimation of the states of an electric power system, that is, the magnitude and angle of the voltage at all buses, is a very critical input to many monitoring and control functions of power systems. The recently witnessed rapid deployment of synchronized measurement technology (SMT) in power systems, has led to research advancements in the state estimation technology that introduce the notion of hybrid state estimation. These techniques incorporate the synchrophasors provided by the Phasor Measurement Units (PMUs) in the state estimation process, thus improving the state estimation accuracy. However, both the traditional as well as the hybrid techniques, assume a pre-defined configuration and characteristics of the measurement devices. This work explores how semantic modelling and reasoning techniques may contribute to the online configuration of the state estimation architectures given the available measurement capabilities at each moment.

关键词： State estimation power systems Phasor measurement units control function configurability Motor buses

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Distributed Adaptive Sensor Fault Tolerant Control for Smart Buildings

Distributed Adaptive Sensor Fault Tolerant Control for Smart...

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IEEE Annual Conference on Decision and Control

作者： Panayiotis M. Papadopoulos Vasso Reppa Marios M. Polycarpou Christos G. Panayiotou KIOS Research Center for Intelligent Systems and Networks Department of Electrical and Computer Engineering University of Cyprus Nicosia 1678 Cyprus Laboratory of Signals and Systems (UMR CNRS 8506) CentraleSupelec-CNRS-University Paris-Sud Univ. Paris-Saclay 91192 Gif-sur-Yvette France

ISBN: (纸本)9781479978878

This paper presents a model-based distributed fault-tolerant control (FTC) scheme with emphasis on compensating the effects of sensor faults in multi-zone heating, ventilating and air-conditioning (HVAC) systems. A bank of local adaptive FTC agents are designed to accommodate possible sensor faults in HVAC systems, modeled as a set of interconnected, nonlinear subsystems. In order to compensate the fault effects that may propagate in the neighboring subsystems, each local FTC utilizes the information generated by a local monitoring agent that diagnoses the sensor faults and performs an adaptive estimation of the isolated sensor faults. The local monitoring and control agents are allowed to exchange information with neighboring agents. Simulation results are used to illustrate the effectiveness of the proposed methodology applied to a seven-zone HVAC system.

关键词： High Voltage Alternating Current systems fault-tolerant control adaptive estimation Sensors Agents SUB-SYSTEM

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The Effect of Time-Delayed Measurements on a PMU-Based State Estimator

The Effect of Time-Delayed Measurements on a PMU-Based State...

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IEEE Eindhoven PowerTech Conference

作者： Markos Asprou Elias Kyriakides Department of Electrical and Computer Engineering KIOS Research Center for Intelligent Systems and Networks University of Cyprus Nicosia Cyprus

The complete integration of the Synchronized Measurement Technology (SMT) in the power systems will bring about fundamental changes to the applications of the control center. One of the natural applications of the SMT is the state estimation. Although the state estimator is used for monitoring the steady state operating condition, it is envisioned that in the near future, a PMU-based state estimator will be able to monitor the dynamic behavior of the power system states. In such an application, the transfer delay of the PMU measurements should not be ignored. In this work, the effect of the PMU measurements transfer delay on the accuracy of a PMU-based state estimator is examined. Further, the optimal waiting time of the Phasor Data Concentrators (for sending information to the control center), and the time execution of a PMU-based state estimator for capturing accurately the state transients during fault conditions are also examined.

关键词： Phasor data concentrator Measurement transfer delay Phasor measurement unit State estimation

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Control of a Quadruped Robot with Bionic Springy Legs in Trotting Gait

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Journal of Bionic engineering 2014年第2期11卷 188-198页

作者： Mantian Li Zhenyu Jiang Pengfei Wang Lining Sun Shuzhi Sam Ge State Key Laboratory of Robotics and System Harbin Institute of Technology Harbin 150001 P. R. China Institute of Intelligent Systems and Information Technology University of Electronic Seience and Technology of China Chengdu 610000 P.R. China Department of Electrical and Computer Engineering the National University of Singapore Singapore 117576 Singapore

Legged robots have better performance on discontinuous terrain than that of wheeled robots. However, the dynamic trotting and balance control of a quadruped robot is still a challenging problem, especially when the robot has multi-joint legs. This paper presents a three-dimensional model of a quadruped robot which has 6 Degrees of Freedom （DOF） on torso and 5 DOF on each leg. On the basis of the Spring-Loaded Inverted Pendulum （SLIP） model, body control algorithm is discussed in the first place to figure out how legs work in 3D trotting. Then, motivated by the principle of joint function separation and introducing certain biological characteristics, two joint coordination approaches are developed to produce the trot and provide balance. The robot reaches the highest speed of 2.0 m.s-1, and keeps balance under 250 Kg.m.s-1 lateral disturbance in the simulations. The effectiveness of these approaches is also verified on a prototype robot which runs to 0.83 m.s-1 on the treadmill, The simulations and experiments show that legged robots have good biological properties, such as the ground reaction force, and spring-like leg behavior.

关键词： legged robots locomotion control quadruped robot trotting gait

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Control Strategies for a Humanoid Robot to Drive and then Egress a Utility Vehicle for Remote Approach

Control Strategies for a Humanoid Robot to Drive and then Eg...

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IEEE-RAS International Conference on Humanoid Robots

作者： Hyobin Jeong Jaesung Oh Mingeuk Kim Kyungdon Joo In So Kweon Jun-Ho Oh Humanoid Research Center School of Mechanical Aerospace & Systems Engineering Department of Mechanical Engineering Korea Advanced Institute of Science and Technology Robotics and Computer Vision Laboratory School of Mechanical Aerospace & Systems Engineering Department of Electrical Engineering Korea Advanced Institute of Science and Technology Department of Electrical Engineering KAIST

ISBN: (纸本)9781479968862

This paper proposes strategies for the driving and egress of a vehicle with a humanoid robot. To drive the vehicle, the RANSAC method was used to detect obstacles, and the Wagon model was used to control the steering and velocity of the vehicle with only a limited number of sensors which were installed on the humanoid robot. Additionally, a manual teleoperating method was used with the lane projection technique. For the egress motion, gain override and the Cartesian position/force control technique were used to interact with the vehicle structure. To overcome the disadvantages of a highly geared manipulator, a special technique was used that included modelled friction compensation and a non-complementary switching mode. DRC-HUBO+ used the proposed method to perform a vehicle driving and egress task in the DRC finals 2015.

关键词： Humanoid robots EGRESS vehicle Vehicle driving Automobile driving UTILITY VEHICLES control strategy friction compensation DRIVES Steering

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A p300 model for cerebot - A mind-controlled humanoid robot 2

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2nd International Conference on Robot Intelligence Technology and Applications, RiTA 2013

作者： Li, Mengfan Li, Wei Zhao, Jing Meng, Qinghao Zeng, Ming Chen, Genshe Institute of Robotics and Autonomous Systems School of Electrical Engineering and Automation Tianjin University Tianjin300072 China Department of Computer & Electrical Engineering and Computer Science California State University BakersfieldCA93311 United States Intelligent Fusion Technology Inc. GermantownMD20876 United States

ISBN: (纸本)9783319055817

In this paper, we present a P300 model for control of Cerebot - a mind-controlled humanoid robot, including a procedure of acquiring P300 signals, topographical distribution analysis of P300 signals, and a classification approach to identifying subjects’ mental activities regarding robot-walking behavior. We design two groups of image contexts to visually stimulate subjects when acquiring neural signals that are used to control a simulated or real NAO robot. Our study shows that the group of contexts using images of robot behavior delivers better performance. © Springer International Publishing Switzerland 2014.

关键词： Anthropomorphic robots

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Decoding of Intentional Actions from Scalp Electroencephalography (EEG) in Freely-behaving Infants

Decoding of Intentional Actions from Scalp Electroencephalog...

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Annual International Conference of the IEEE engineering in Medicine and Biology Society

作者： Zachery R. Hernandez Jesus Cruz-Garza Teresa Tse Jose L. Contreras-Vidal Non-Invasive Brain-Machine Interface Systems Laboratory at the Department of Electrical and Computer Engineering University of Houston (UH) Center for Robotics and Intelligent Systems Tecnologico de Monterrey

ISBN: (纸本)9781424479276

The mirror neuron system (MNS) in humans is thought to enable an individual's understanding of the meaning of actions performed by others and the potential imitation and learning of those actions. In humans, electroencephalographic (EEG) changes in sensorimotor a-band at central electrodes, which desynchronizes both during execution and observation of goal-directed actions (i.e., μ suppression), have been considered an analog to MNS function. However, methodological and developmental issues, as well as the nature of generalized μ suppression to imagined, observed, and performed actions, have yet to provide a mechanistic relationship between EEG μ-rhythm and MNS function, and the extent to which EEG can be used to infer intent during MNS tasks remains unknown. In this study we present a novel methodology using active EEG and inertial sensors to record brain activity and behavioral actions from freely-behaving infants during exploration, imitation, attentive rest, pointing, reaching and grasping, and interaction with an actor. We used δ-band (1-4Hz) EEG as input to a dimensionality reduction algorithm (locality-preserving Fisher's discriminant analysis, LFDA) followed by a neural classifier (Gaussian mixture models, GMMs) to decode the each MNS task performed by freely-behaving 6-24 month old infants during interaction with an adult actor. Here, we present results from a 20-month male infant to illustrate our approach and show the feasibility of EEG-based classification of freely occurring MNS behaviors displayed by an infant. These results, which provide an alternative to the μ-rhythm theory of MNS function, indicate the informative nature of EEG in relation to intentionality (goal) for MNS tasks which may support action-understanding and thus bear implications for advancing the understanding of MNS function.

关键词： Electroencephalography Scalp Acceleration Training Coherence Electrodes Testing

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ExTra: Expediting File Transfers through Optimized Inter-vehicle Communication

ExTra: Expediting File Transfers through Optimized Inter-veh...

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IEEE International Conference on Communications

作者： Panayiotis Kolios Christos Panayiotou Georgios Ellinas KIOS Research Center for Intelligent Systems and Networks and the Department of Electrical and Computer Engineering University of Cyprus

In the realm of cooperative intelligent Transportation systems, vehicles are able to communicate with each other and with the available telecommunications infrastructure to support various safety-related services, traffic-efficiency solutions, and a wide variety of infotainment applications. As the number of mobile devices and information they need to exchange steadily increases, this will further strain mobile networks. It is for that reason that communication over wireless local area networks (WLANs) is becoming the primary means of transporting data to/from vehicles. However, due to their limit range WLANs only offer intermittent connectivity, and due to node mobility the established connections are only available for a short period of time. The present paper investigates how inter-vehicle communication can help minimize the upload/download delivery times in the context of delay tolerant traffic and intermittent communication. To do so, each vehicular station distributes part of its message to neighboring nodes prior to accessing the infrastructure. In turn, vehicles transmit their buffered messages when passing by the infrastructure terminals to complete the file transfer. This paper presents a thorough study of the aforementioned strategy providing a mathematical framework and optimized forwarding techniques. Performance results validate the applicability of the proposed solution.

关键词： Vehicles Mobile communication Mobile computing Wireless communication Frequency modulation Load management Loading

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An Event-Based Bus Monitoring System

An Event-Based Bus Monitoring System

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17th International IEEE Conference on intelligent Transportation systems & The Asia-Pacific Council on systems engineering Conference 2014

作者： Antonis Antoniou Andreas Georgiou Panayiotis Kolios Christos Panayiotou Georgios Ellinas KIOS Research Center for Intelligent Systems and Networks and the Department of Electrical and Computer Engineering University of Cyprus

The ability to accurately estimate arrival times of mass transit vehicles is extremely important to public transportation systems since it governs the perceived quality of experience and influences its *** majority of existing solutions are primarily concerned with the specific problem at hand and overlook the communication overhead associated when implementing such a system in *** latter issue is addressed in this work with the aim of achieving good estimates with minimal *** event-based monitoring process is designed for that purpose which is tested in a real-world bus service running along a particular route of the public transport network in Nicosia,*** proposed solution significantly reduces the message exchanges needed to maintain accurate location estimates of busses with minimal computation requirements.

关键词： service An Event-Based Bus Monitoring System

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